2018 Volume 30 Issue 5 Pages 709-716
The purpose of this research is to realize smooth and natural mutual avoidance of human and robot by communicating the intention of avoiding robot to people. Assuming a situation where a person and a robot encounters at a doorway or corridor of a building or a situation, where the robot cannot perform a lower body movement. We aim to construct a system that can communicate and actively guide people in a direction not to collide. By this proposed method, a risk of collision between human and robot decreases, it is thought that we can avoid avoiding behaviors of each other and minimize mutual avoidance distance. In order to verify whether upper body movement is effective as a transmission means of the robot’s avoidance direction intention, we posted it to the subject by three presentation methods with the position of both arms and the orientation of the chest as motion elements. As a result of the experiments, the result that upper body motion affected a determination of avoidance direction was obtained.
