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PURPOSE The goal of this study was to determine the best angle at which to drill the femoral tunnels of the popliteus tendon (PT) and fibular collateral ligament (FCL) in combined reconstructive procedures so as to avoid either short tunnels or tunnel collisions with the anterior cruciate ligament (ACL) and posterior cruciate ligament (PCL) femoral tunnels.(More)
Robots accompanying humans is one of the core capacities every service robot deployed in urban settings should have. We present a novel robot companion approach based on the so-called Social Force Model (SFM). A new model of robot-person interaction is obtained using the SFM which is suited for our robots Tibi and Dabo. Additionally, we propose an(More)
This paper presents a fully autonomous navigation solution for urban, pedestrian environments. The task at hand, undertaken within the context of the European project URUS, was to enable two urban service robots, based on Segway RMP200 platforms and using planar lasers as primary sensors, to navigate around a known, large (10,000 m 2), pedestrian-only(More)
Human motion prediction in indoor and outdoor scenarios is a key issue towards human robot interaction and intelligent robot navigation in general. In the present work, we propose a new human motion intentionality indicator , denominated Bayesian Human Motion Intentionality Prediction (BHMIP), which is a geometric-based long-term predictor. Two variants of(More)
The prediction of human motion intentionality is a key issue towards intelligent human robot interaction and robot navigation. In this work we present a comparative study of several prediction functions that are based on the minimum curvature variance from the current position to all the potential destination points, that means, the points that are relevant(More)
— In this paper we present a novel robot navigation approach based on the so-called Social Force Model (SFM). First, we construct a graph map with a set of destinations that completely describe the navigation environment. Second, we propose a robot navigation algorithm, called social-aware navigation, which is mainly driven by the social-forces centered at(More)
In the present work, we propose and validate a complete probabilistic framework for human motion prediction in urban or social environments. Additionally, we formulate a powerful and useful tool: the human motion behavior estimator. Three different basic behaviors have been detected: Aware, Balanced and Unaware. Our approach is based on the Social Force(More)
In our previous work [1] we introduced the Anticipative Kinodynamic Planning (AKP): a robot navigation algorithm in dynamic urban environments that seeks to minimize its disruption to nearby pedestrians. In the present paper, we maintain all the advantages of the AKP, and we overcome the previous limitations by presenting novel contributions to our(More)
In dynamic environments crowded with people, robot motion planning becomes difficult due to the complex and tightly-coupled interactions between agents. Trajectory planning methods, supported by models of typical human behavior and personal space, often produce reasonable behavior. However, they do not account for the future closed-loop interactions of(More)