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Authors: Vittorio Lippi ; Kai Günter Brands and Thomas Seel

Affiliation: Technical University Berlin, Control Systems, Berlin, Germany

Keyword(s): Tracking System, Magnetometerless, Humanoid Posture Control, Benchmarking.

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.

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Paper citation in several formats:
Lippi, V.; Brands, K. and Seel, T. (2020). Real-time Implementation and Evaluation of Magnetometerless Tracking System for Human and Humanoid Posture Control Benchmarking based on Inertial Sensors. In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-442-8; ISSN 2184-2809, SciTePress, pages 675-680. DOI: 10.5220/0009869106750680

@conference{icinco20,
author={Vittorio Lippi. and Kai Günter Brands. and Thomas Seel.},
title={Real-time Implementation and Evaluation of Magnetometerless Tracking System for Human and Humanoid Posture Control Benchmarking based on Inertial Sensors},
booktitle={Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2020},
pages={675-680},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009869106750680},
isbn={978-989-758-442-8},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Real-time Implementation and Evaluation of Magnetometerless Tracking System for Human and Humanoid Posture Control Benchmarking based on Inertial Sensors
SN - 978-989-758-442-8
IS - 2184-2809
AU - Lippi, V.
AU - Brands, K.
AU - Seel, T.
PY - 2020
SP - 675
EP - 680
DO - 10.5220/0009869106750680
PB - SciTePress

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