Modelling and Estimation of Human Walking Gait for Physical Human-Robot Interaction

Yash Vyas,Mike Allenspach,Christian Lanegger,Roland Siegwart,Marco Tognon

2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)（2021）

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摘要

An approach to model and estimate human walking kinematics in real-time for Physical Human-Robot Interaction is presented. The human gait velocity along the forward and vertical direction of motion is modelled according to the Yoyo-model. We designed an Extended Kalman Filter (EKF) algorithm to estimate the frequency, bias and trigonometric state of a biased sinusoidal signal, from which the kinem...

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关键词

human walking gait,human-robot

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