Gait Measurement for Human Behavior Estimation Against Autonomous Mobile Robot

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)


To realize a safe collision avoidance of autonomous mobile robots, understanding human behavior against the robots is important. This paper has proposed a gait measurement method for human behavior estimation against autonomous mobile robot. The proposed method using a laser range sensor consists of five observed leg patterns recognition and global nearest neighbor (GNN)-based data association with a variable validation region based on the state of each leg. To verify the effectiveness of the proposed system, a verification test in a hospital that staff is recruited as participants were carried out. From the experimental results in the hospital, we confirm that the proposed method can reduce the chance of losing track of both legs and the variable validation region can reduce the chance of false tracking.


Autonomous mobile robot Laser range sensor Leg tracking Kalman filter Data association Global nearest neighbor 



This work was supported by Grant-in-Aid for Japan Society for the Promotion of Science (JSPS) Fellows Grant Number 25-5707 and JSPS KAKENHI Grant Number 25709015. We would like to thank the members of Graduate School of Dentistry Osaka University and Research & Development Division of Murata Machinery, LTD. for their help with data collection.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.School of Science for Open and Environmental SystemsKeio UniversityKohoku-kuJapan
  2. 2.Department of System Design EngineeringKeio UniversityKohoku-kuJapan

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