Abstract
Recently, various types of robots co-exsisting with people have been developed. Such a robot should learn human-friendly behaviors through the experiences with people, because the behaviors of the robot suitable to the people cannot be designed. However, there exists several problems on behavior learning, e.g., the problem on the applicability of the acquired behavior owing to the gap between simulation environment and real environment. Therefore, in this paper, we developed a virtual simulation environment connecting seamlessly with a real environment, and proposed a learning method of interaction of the robot with environment and the people in the virtual simulation environment. Furthermore, we conducted several experiments on the interaction with people and the motion control, and discussed the effectiveness of the proposed method.
