2019 Volume 31 Issue 5 Pages 842-851
In this study, we analyzed the human’s moving trajectories in the encounter scene based on a proposed model. The model of agent possesses preferences for a relationship with a target. The model associates the intensity of aggressive and passive involvements based on the relative distance and the relative angle of the partner. In the scenario of the experiment, the participants approached the target (mannequin) to ask the way. As the results, the participants showed trajectories of a curve deviating from the front direction of the target rather than straight trajectories. The participants also showed adjustment of timing to start speaking based on the assumption of the internal state of the target set by experimental suggestion. The trajectory of human curved approach behavior can be generated approximately by the proposed model. We discuss the reason of these approaching behavior based on the internal state of the model. It can be said that the behavior generation of the proposed model and the estimation of the internal state are useful for designing human-robot interaction in encounter scene.