Real-time implementation and evaluation of magnetometerless tracking system for human and humanoid posture control benchmarking based on inertial sensors
Lippi V, Brands KG, Seel T (2020)
Publication Type: Conference contribution
Publication year: 2020
Publisher: SciTePress
Pages Range: 675-680
Conference Proceedings Title: ICINCO 2020 - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics
ISBN: 9789897584428
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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Germany (DE)How to cite
APA:
Lippi, V., Brands, K.G., & Seel, T. (2020). Real-time implementation and evaluation of magnetometerless tracking system for human and humanoid posture control benchmarking based on inertial sensors. In Oleg Gusikhin, Kurosh Madani, Janan Zaytoon (Eds.), ICINCO 2020 - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics (pp. 675-680). SciTePress.
MLA:
Lippi, Vittorio, Kai Günter Brands, and Thomas Seel. "Real-time implementation and evaluation of magnetometerless tracking system for human and humanoid posture control benchmarking based on inertial sensors." Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2020 Ed. Oleg Gusikhin, Kurosh Madani, Janan Zaytoon, SciTePress, 2020. 675-680.
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