Abstract
We propose the step-on interface (SOI) in which the instruction is given by stepping on the operation screen projected on a ground surface. We developed the HFAMRO (human-friendly amusing mobile robot)-2 in which two sets of SOI are equipped on the two-wheel drive mobile platform. This paper presents two methods based on the real-time range data and the environmental map respectively for the obstacle avoidance and coming back to the original pathway putting priority on the given instruction.
