Real-time Implementation and Evaluation of Magnetometerless Tracking System for Human and Humanoid Posture Control Benchmarking based on Inertial Sensors

Vittorio Lippi, Kai Brands, Thomas Seel

2020

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.

Paper Citation

in Harvard Style

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 - Volume 1: ICINCO, ISBN 978-989-758-442-8, pages 675-680. DOI: 10.5220/0009869106750680

in Bibtex Style

@conference{icinco20,
author={Vittorio Lippi and Kai 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 - Volume 1: ICINCO,},
year={2020},
pages={675-680},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009869106750680},
isbn={978-989-758-442-8},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: 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
AU - Lippi V.
AU - Brands K.
AU - Seel T.
PY - 2020
SP - 675
EP - 680
DO - 10.5220/0009869106750680