抄録
This paper describes the generation of motion forereaching a pedestrian using mobile robots. When robots act in living space to various purposes, various motions are necessary. For example, forereaching motion is effective in seeing eye to eye to talk to pedestrians. The motion generation system estimates the positions and velocity of moving objects as the pedestrians and generates a path that enables the robot to forereach the target pedestrian while simultaneously avoiding the other pedestrians. In this paper, the pedestrian motion estimation method, forereaching path planning method, and experimental results obtained from the forereaching motion generated by the proposed system are described.
