人の移動性指標に基づく自律移動ロボットの軽接触移動制御手法の提案

抄録

The purpose of this research is to make robot possible to use contacts in a practical environment. Therefore, considering the psychology and movement of the person by contact, we propose a movement control system with light contact for autonomous mobile robots, which can make the most appropriate contact to the situation even in a dynamic environment. To realize this contact system, experiments are carried out in which the robot actually touches human with various methods under various circumstances. On the basis of the experimental results, we embodied the movement control method with light contact, and evaluated. The results indicated that the proposed system could select contacts according to the situation.