人間同士の動作解析に基づくロボットによる歩行誘導のための引張り動作モデルの提案

抄録

This paper presents a pulling motion model for a walking guidance robot. The proposed model is based on the behavioral characteristics of human-to-human walking guidance, in which the pulling force varies depending on the distance and relative velocity between the two partners. We also conducted sensory evaluation experiments focusing on physical rhythms to generate pulling motions that are preferred by humans.