Starting date: April the 10th 2019
Duration: 20 months

 
Project category

OPTION 2: propose a benchmarking device, composed of sensors and/or actuators, that can be applied indistinctly to different benchmarking scenarios.

 
Application

Wearable robots & Humanoids

 
Outcome

TestBed

 
Team:

COORDINATOR:

  • Technische Universität Kaiserslautern (Germany)

PARTNER 2

  • Deutsches Forschungszentrum für Künstliche Intelligenz (Germany)
Abstract
We propose a wearable sensory system, based on inertial motion capture device shown in Fig.1a and visual odometry that can easily be mounted on a robot, see Fig.1d, as well as on humans and delivers 3D kinematics of the lower body and trunk in any environment with an additional 3D reconstruction of the surroundings. Our objective is to develop this platform for both Exoskeleton and bipedal robot benchmarking.
We address the option 2 of the proposal, developing a scenario-generic sensory system for human and bipedal robots and therefore two benchmarking platforms will be delivered to be integrated into Eurobench facilities in Spain and Italy for validation tests.
 
the plan is to use recent advances in inertial measurement units based 3D kinematics estimation that does not use magnetometers and, henceforth, is robust against magnetic interferences induced by the environment or the robot. This allows a drift-free 3D joint angle estimation of a lower body configuration or a robotic leg in a body-attached coordinate system.
 
To map the environment and to correct for possible global heading drift (relative to an external coordinate frame) of the magnetometer-free IMU system, we plan to fuse the visual odometry stochastically with the IMU system. The recorded 3D point cloud of the stereo camera is used in the post-processing phase to generate the 3D reconstruction of the environment. Therefore a magnetometer-free wearable motion capture system with approximate environment mapping should be created that works for humans and bipedal robots, in any environment, i.e. indoors and outdoors.
 
To improve localization and measure gait events, a wireless foot pressure insoles will be integrated for measuring ground interaction. Together with the foot insole all the necessary data to reconstruct kinematics (approximate kinetics) will be delivered and integrated into Robot Operating System (ROS). A user interface will be developed for possible modifications of the skeleton. We also provide validation example recordings with a compliant robot leg, see Fig.1c, and with humans, including the computation of key gait-parameters (initial and terminal contact).