Real-time Implementation and Evaluation of Magnetometerless Tracking System for Human and Humanoid Posture Control Benchmarking based on Inertial Sensors.

verfasst von

Vittorio Lippi, Kai Günter Brands, Thomas Seel

Abstract

This work describes a tracking system designed for humanoid robots, exoskeletons and humans oriented to posture control and balance experiments. The system aims to provide a tool that allows for repeatability of balance experiments across different robotics platforms and control algorithms with the ultimate aim of providing a standardized framework for performance benchmarking. To make the system suitable for different geometries and materials, it relies just on inertial sensors. The system is evaluated with a marker-based optical tracking, performing a trial of a typical posture control and balance experiment. In particular the frequency response function of the body segments respect to the support surface tilt is evaluated.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Typ

Aufsatz in Konferenzband

Seiten

675-680

Anzahl der Seiten

6

Publikationsdatum

2020

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Artificial intelligence, Information systems, Signalverarbeitung, Steuerungs- und Systemtechnik