2P1-L06 Modeling of Human Trajectory Tendency through Contact for Human-Robot Collaborative Movement

Abstract

Robot path planning based on inducement of humans by touch requires a model of human reaction against robot's inducement. In this paper, we aimed to make a human trajectory tendency model for inducement by contact to be implemented into collaborative movement path algorithm. In order to achieve this, we conducted 2 experiments. First, we placed a human in the place of the robot to observe human reaction against inducement by touch to determine parameters that affect human movement. From the parameters taken from the first experiment, we then conducted the second experiment with the actual robot. From the results, the direction the robot touches the human and touching by the robot's arm surface has an effect on the human to move in the desired direction.