Human Motion Prediction Based on Hybrid Motion Model

The prediction of the human motion plays an important role in the predictive motion controller of human assisting mobile robot, and precise prediction requires a precise motion model. In this paper, a novel human motion prediction method is proposed. This prediction method is based on a hybrid motion model which combines the inverted pendulum model and constant velocity model. Derivations of the kinematics, especially the inverted pendulum model, are presented in this paper. Estimation of the prediction by inverted pendulum and constant velocity models based on the Unscented kalman filter(UKF) and Kalman filter(KF) respectively, are also given. The hybrid model precisely describes the walking cycle. Experiments verifying the effectiveness of the proposed model are also presented.