Dynamic emulation of human locomotion through mobile robots

MARCOS TOIBERO; FLAVIO ROBERTI; DANIEL HERRERA; RICARDO CARELLI

Buenos Aires

Conferencia; IEEE Multi-Conference on Systems and Control 2016; 2016

IEEE

Representations of human actions allow not only to infer the combining structure of complex movements, but also by creating a socially acceptable behavior. Take the case of a pedestrian following another one; he uses a mental kinematic control that allows to keep a relative distance and orientation between them. Additionally, his gait is also limited by its non holonomic and dynamic nature. Under the hypothesis that moving like humans will be acceptable for humans, this paper proposes a mechanism to indirectly identify human locomotion dynamics by using a kinematic leader-follower control as indirect inputs. The parameters of both of them are identified together by using human-human interaction data. Additionally, a control scheme based on feedback linearization is proposed to emulate the identified human dynamics.Finally, validation procedures over the measures of an experimental mobile robot are used to show the emulation of human locomotion dynamics. The results show that the robot is capable to emulate human locomotion dynamics, and, it could be useful to improve the social acceptance during human-robot interactions.