Details
| Original language | English |
|---|---|
| Title of host publication | ICINCO 2020 - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics |
| Editors | Oleg Gusikhin, Kurosh Madani, Janan Zaytoon |
| Pages | 675-680 |
| Number of pages | 6 |
| ISBN (electronic) | 9789897584428 |
| Publication status | Published - 2020 |
| Externally published | Yes |
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.
Keywords
- Benchmarking, Humanoid posture control, Magnetometerless, Tracking system
ASJC Scopus subject areas
- Computer Science(all)
- Artificial Intelligence
- Computer Science(all)
- Information Systems
- Computer Science(all)
- Signal Processing
- Engineering(all)
- Control and Systems Engineering
Cite this
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ICINCO 2020 - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics. ed. / Oleg Gusikhin; Kurosh Madani; Janan Zaytoon. 2020. p. 675-680.
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Real-time Implementation and Evaluation of Magnetometerless Tracking System for Human and Humanoid Posture Control Benchmarking based on Inertial Sensors.
AU - Lippi, Vittorio
AU - Brands, Kai Günter
AU - Seel, Thomas
N1 - Publisher Copyright: Copyright © 2020 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved.
PY - 2020
Y1 - 2020
N2 - 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.
AB - 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.
KW - Benchmarking
KW - Humanoid posture control
KW - Magnetometerless
KW - Tracking system
UR - http://www.scopus.com/inward/record.url?scp=85090395584&partnerID=8YFLogxK
M3 - Conference contribution
SP - 675
EP - 680
BT - ICINCO 2020 - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics
A2 - Gusikhin, Oleg
A2 - Madani, Kurosh
A2 - Zaytoon, Janan
ER -