Abstract
Recently, it is expected that robots will play important roles such as social welfares and services in the home and office for the aging society. These robots must be able to cooperate with humans. One of the most important jobs of these robots is a handing to a human. The handing-over motion of the robot must be not only physically safe but also psychologically comfortable. Therefore, in this paper, we propose a handing-over motion model based on timings between voice greeting and release motion of humans. This model generates a motion in which a robot hands over an object to a human accompanied by a voice greeting. Furthermore, a hand-over robot system that uses the proposed handing-over motion model is developed. By sensory evaluation using the developed robot system, a timing between voice greeting and release motion which is preferred by humans is analyzed, and the effectiveness of the proposed model is demonstrated.
