Title :
Posture estimation using a 3D range camera for standing-up motion assist robot
Author :
Tsukada, N. ; Ogura, Kanayo ; Aiguo Ming ; Shimojo, Makoto
Author_Institution :
Dept. of Mech. Eng. & Intell. Syst., Univ. of Electro-Commun., Tokyo, Japan
Abstract :
As one of the home services by a mobile manipulator system, we are aiming at the realization of the motion assist for elderly people. The purpose of the work is to realize a safe assist by real time feedback control based on the information from a high speed tactile sensor and a 3D range camera. This paper describes the posture estimation of human using a 3D range camera. A method for posture estimation from the 3D range data is proposed. The method is implemented and experimental results show the availability of the 3D range camera for posture estimation.
Keywords :
assisted living; cameras; feature extraction; feedback; geriatrics; handicapped aids; manipulators; mobile robots; robot vision; service robots; tactile sensors; 3D range camera data; elderly people; high-speed tactile sensor; home services; human posture estimation; mobile manipulator system; real-time feedback control; safe assistance; standing-up motion assist robot;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2012 IEEE International Conference on
Conference_Location :
Guangzhou
Print_ISBN :
978-1-4673-2125-9
DOI :
10.1109/ROBIO.2012.6491094
