Nonlinear Programming-based Robot Motion Planning for Gait Measurement when Passing Pedestrians
Kazuyuki Hayashide, Masaki Takahashi · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2023
In an aging society, the burden on medical personnel is increasing. To efficiently reduce this problem, a robotic system that can perform multiple tasks simultaneously is desired. In this research, we propose an algorithm that combines ward patrol and gait measurement of passing pedestrians by assigning robot motion planning to nonlinear programming. The feasibility of gait measurement is considered in the evaluation function, and constraints such as kinematic constraints, collision avoidance, and timely arrival at the checkpoint are considered in the constraint conditions. Through the simulation, it is confirmed that the gait measurement was successful in more than 95% of all trials, and the constraints considered in the constraint conditions are always satisfied. The results indicate that our proposed method is practical as an autonomous gait measurement system while satisfying all the constraints.