3A1-O06 Study on human's approaching motion to leading robot(Sense, Motion and Measurement (1))

Abstract

This paper describes motion control of a mobile robot to lead a human. First of all, human's approaching motion with respect to a leading robot was investigated. In the experiment, human subject walked for chasing a moving mobile robot and the distance between a leading robot and the human was measured by the Kinect sensor. When the leading robot was moving with constant speed, the distance between them was gradually decreasing and it was finally converged to a constant value. The average of converged distance was about 1.72[m]. Next, this characteristic was modeled and it was applied for speed control of a leading mobile robot.