Abstract
In this paper, we analyze the timing of an utterance of a voice greeting and a hand motion preferred by humans in greeting interactions between a human and a robot. Initially, a hand-up motion and a handshake motion between humans, which are greeting interactions without and with contact, are analyzed. Based on the analysis, an interaction robot system capable of generating the hand-up motion and handshake motion for a greeting interaction with a human is developed. Subsequently, using the developed interaction robot system, the differences of motion characteristics between greeting interactions with and without contact preferred by humans are analyzed by an analysis-by-synthesis technique.
