The Journal of China Universities of Posts and Telecommunications ›› 2021, Vol. 28 ›› Issue (3): 76-85.doi: 10.19682/j.cnki.1005-8885.2021.0009

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Human motion prediction using optimized sliding window polynomial fitting and recursive least squares

  

  • Received:2020-07-13 Revised:2020-11-23 Online:2021-06-30 Published:2021-06-22
  • Supported by:
    National Natural Science Foundation of China;Young Doctor Cooperation Foundation of Qilu University of Technology (Shandong Academy of Sciences)

Abstract:

Human motion prediction is a critical issue in human-robot collaboration (HRC) tasks. In order to reduce thelocal error caused by the limitation of the capture range and sampling frequency of the depth sensor, a hybrid human motion prediction algorithm, optimized sliding window polynomial fitting and recursive least squares (OSWPF-RLS) was proposed. The OSWPF-RLS algorithm uses the human body joint data obtained under the HRC task as input, and uses recursive least squares (RLS) to predict the human movement trajectories within the time window. Then, the optimized sliding window polynomial fitting (OSWPF) is used to calculate the multi-step prediction value, and the increment of multi-step prediction value was appropriately constrained. Experimental results show that compared with the existing benchmark algorithms, the OSWPF-RLS algorithm improved the multi-

step prediction accuracy of human motion and enhanced the ability to respond to different human movements.  

Key words:

human-robot collaboration (HRC), human motion prediction, sliding window polynomial fitting (SWPF) algorithm, recursive least squares (RLS), optimized sliding window polynomial fitting and recursive least squares (OSWPF-RLS)

CLC Number: