Human-Humanoid walking gait recognition

Abstract

This paper addresses a typical humanoid problem, that of walking gaits. Creating a stable walking gait on a humanoid robot is a problem that is addressed by many roboticists worldwide. We want to focus on a similar issue that is often overlooked: recognition of different walking behaviours in humans and humanoid robots. We introduce a method that is able to recognise persons as well as their current walking behaviour based on accelerometer data. This is an important skill and prerequisite for all human-humanoid imitation and interaction tasks.