A Sensor-Based Technique for Speed Invariant Human Gait Classification

Nandy, Anup; Bhowmick, Soumabha; Chakraborty, Pavan; Nandi, Gora Chand

doi:10.1007/978-81-322-1665-0_53

Cited by 3 publications

(3 citation statements)

References 12 publications

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“…we used a wooden hammer like structure to give push forces. Image of FSR is given below [7].To increase FSR surface area used rectangular FSR surface. To measure the value of centre of mass for 6Dof we developed our own kit using IMU Digital Combo Board with ITG3200 gyro and ADXL345 accelerometer [14].…”

Section: B Methodologymentioning

confidence: 99%

Study of humanoid Push recovery based on experiments

Semwal

Bhushan

Nandi

2013

2013 International Conference on Control, Automation, Robotics and Embedded Systems (CARE)

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Human can negotiate and recovers from Push up to certain extent. The push recovery capability grows with age (a child has poor push recovery than an adult) and it is based on learning. A wrestler, for example, has better push recovery than an ordinary man. However, the mechanism of reactive push recovery is not known to us. We tried to understand the human learning mechanism by conducting several experiments. The subjects for the experiments were selected both as right handed and left handed. Pushes were induced from the behind with close eyes to observe the motor action as well as with open eyes to observe learning based reactive behaviors. Important observations show that the left handed and right handed persons negotiate pushes differently (in opposite manner). The present research describes some details about the experiments and the analyses of the results mainly obtained from the joint angle variations (both for ankle and hip joints) as the manifestation of perturbation. After smoothening the captured data through higher order polynomials, we feed them to our model which was developed exploiting the physics of an inverted pendulum and configured it as a representative of the subjects in the Webot simulation framework available in our laboratory. In each cases the model also could recover from the push for the same rage of perturbation which proves the correctness of the model. Hence the model now can provide greater insight to push recovery mechanism and can be used for determining push recovery strategy for humanoid robots. The paper claimed the push recovery is software engineering problem rather than hardware.

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Section: B Methodologymentioning

confidence: 99%

Study of humanoid Push recovery based on experiments

Semwal

Bhushan

Nandi

2013

2013 International Conference on Control, Automation, Robotics and Embedded Systems (CARE)

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“…To make it free from intensive computation mechanism and impart learning we proposed the hierarchical fuzzy system [5].gait cycle style in which a human being walks. Gait cycle starts where one foot leaves the ground and end it again touches the ground [12].…”

Section: A the Step Of Methodologymentioning

confidence: 99%

“…Kinematic equations derived for a serial manipulator are a set of polynomials result in multiple configurations for this manipulator of chain type. For parallel manipulators, the specification of location of the end-effectors has simple kinematics equations, yielding the joint parameters relationship [12].…”

Section: A the Step Of Methodologymentioning

confidence: 99%

Biped model based on human Gait pattern parameters for sagittal plane movement

Semwal

Katiyar

Chakraborty

et al. 2013

2013 International Conference on Control, Automation, Robotics and Embedded Systems (CARE)

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The present research as described in this paper tries to impart how imitation based learning for behavior-based programming can be used to teach the robot. The simulated model tries to imitate human GAIT pattern and negotiate push with efficient recovery [1]. This paper also proposes the HOAP2 [2] based biped model to achieve gait cycle imitation and push recovery on humanoid. The proposed model follows the Gait cycle [1] and can be further used for developing a model capable to recover from push similar to human biology. This development is a big step in way to prove that push recovery is a software engineering problem and not hardware engineering problem. The walking algorithm used here aims to select a subset of push recovery problem i.e. disturbance from environment. We applied the physics at each joint of Halo with some degree of freedom. The proposed model, Halo is different from other models as previously developed model were inconsistent with data for different persons. This would lead to development of the generalized biped model in future and will bridge the gap between performance and inconsistency. In this paper the proposed model is applied to data of different persons. Accuracy of model, performance and result is measured using the behavior negotiation capability of model developed. In order to improve the performance, proposed model gives the freedom to handle each joint independently based on the belongingness value for each joint. The development can be considered as important development for future world of robotics. The accuracy of model is 70% in one go. In this paper, we achieve to imitate the human gait cycle for HOAP-2 [2] robots model Halo. We validate our model by giving different input configuration parameter i.e. CoM, CoP and joint angle of different samples to HOAP-2[2] model designed in Webots, which can demonstrate the behavior as per new configuration provided for different person.Index Terms -Push Recovery, HOAP2 robot, Imitate, Artificial Intelligence, GAIT cycle, Hierarchical fuzzy system, Degree of freedom, Human motion capturing device (HMCD [3]).

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A new paradigm of human gait analysis with Kinect

Nandy

Chakraborty

2015

2015 Eighth International Conference on Contemporary Computing (IC3)

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A Sensor-Based Technique for Speed Invariant Human Gait Classification

Cited by 3 publications

References 12 publications

Study of humanoid Push recovery based on experiments

Study of humanoid Push recovery based on experiments

Biped model based on human Gait pattern parameters for sagittal plane movement

A new paradigm of human gait analysis with Kinect

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