Motion Characteristics and Avoidance Motion Algorithm Based on Human Passing Behavior. Results of Experiments under Natural and Laboratory Settings.
Motion Characteristics and Avoidance Motion Algorithm Based on Human Passing Behavior. Results of Experiments under Natural and Laboratory Settings.
复制标题
基于人体超车行为的运动特性及避让运动算法。
DOI：
10.1299/kikaic.64.959
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发表时间：
1998
期刊：
影响因子：
--
通讯作者：
Y. Shiota
中科院分区：
文献类型：
--
作者：
M. Yoda;Y. Shiota
为了检测人类回避运动的特征，构建回避运动算法，我们进行了两个实验。在这些实验中，采用传球行为作为回避动作。在第一个实验中，我们使用录像机在自然环境下记录了人类在道路上的通行行为。对录像机记录的分析表明，人类在经过时的回避动作可分为三种类型。在第二个实验中，我们在实验室进行了人体通过实验。受试者经过一个实验者，这个实验者站着、走着、跑着，走着很短的步伐。实验结果表明，人体避让运动主要有以下两个特点：(1)轨迹与悬链线吻合较好；(2)通过过程中行走速度平稳。基于这些特点，构造了避让运动算法。我们将把这些特性和算法应用于机电一体化和机器人学领域，特别是移动机器人的避让运动。
In order to detect human characteristics of avoidance motion and construct avoidance motion algorithm, we conducted two experiments. In these experiments, passing behavior was employed as avoidance motion. In the first experiment, we recorded human passing behaviors using VTR on the road under natural settings. The analysis of the VTR recordings revealed that human avoidance motions in passing were categorized as three types. In the second experiment, we conducted human passing experiments in the laboratory. Subjects passed an experimenter who is stood, walked, and ran with short steps. The results of these experiments indicated that human avoidance motion has mainly following two characteristics: (1)the locus agrees well with the catenary, and (2)the walking velocity is costant in passing. The avoidance motion algorithm was constructed based on these characteristics. We will apply these characteristics and the algorithm in the field of mechatronics and robotics, especially to the avoidance motion of a mobile robot.