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International Journal of Social Robotics
Erschienen in: International Journal of Social Robotics 4/2020

24.05.2019 | S.I.: The Mutual Shaping of Human-Robot Interaction

Adaptive Side-by-Side Social Robot Navigation to Approach and Interact with People

verfasst von: Ely Repiso, Anaís Garrell, Alberto Sanfeliu

Erschienen in: International Journal of Social Robotics | Ausgabe 4/2020

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Abstract

This paper presents a new framework for how autonomous social robots approach and accompany people in urban environments. The method discussed allows the robot to accompany a person and approach to other one, by adapting its own navigation in anticipation of future interactions with other people or contact with static obstacles. The contributions of the paper are manifold: firstly, we extended the Social Force model and the Anticipative Kinodynamic Planner (Ferrer and Sanfeliu, in: IEEE/RSJ international conference on intelligent robots and systems. IEEE, 2014) to the case of an adaptive side-by-side navigation; secondly, we enhance side-by-side navigation with an approaching task and a final positioning that allows the robot to interact with both people; and finally, we use findings from experiments of real-life observations of people walking in pairs to define the parameters of the human–robot interaction in our case of adaptive side-by-side. The method was validated by a large set of simulations; we also conducted real-life experiments with our robot, Tibi, to validate the framework described for the interaction process. In addition, we carried out various surveys and user studies to indicate the social acceptability of the robots performance of the accompanying, approaching and positioning tasks.
Vorheriger Artikel Designing a Social Robot to Support Children’s Inquiry Learning: A Contextual Analysis of Children Working Together at School
Nächster Artikel Multiple Communication Roles in Human–Robot Interactions in Public Space

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Metadaten
Titel
Adaptive Side-by-Side Social Robot Navigation to Approach and Interact with People
verfasst von
Ely Repiso
Anaís Garrell
Alberto Sanfeliu
Publikationsdatum
24.05.2019
Verlag
Springer Netherlands
Erschienen in
International Journal of Social Robotics / Ausgabe 4/2020
Print ISSN: 1875-4791
Elektronische ISSN: 1875-4805
DOI
https://doi.org/10.1007/s12369-019-00559-2

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