Master's Thesis


Robot control by user tracking with a laser range scanner
Master's Thesis, August 2014 — February 2015
Author: Ivo Steinmann
Supervisor: Jiwon Shin
Project plan
Project report


SmartWalker is a high-tech extension of a walker that aids people of reduced mobility in moving around. The walker is equipped with sensors and actuators and is designed to function both autonomously and non-autonomously. This project addresses the challenges in the non-autonomous mode, in particular, controlling the walker’s velocity according to its user’s movement. The goal of this project is to develop a human detection and tracking algorithm and use the information to control the walker. The work will involve processing laser data to detect and track the user’s leg movement, writing a control loop for the walker to move accordingly, and testing the algorithms with real people in various environment.