In this paper we propose a tele-robotics systems that enables museum curator to present guide tour to museum visitor from outside exhibition hall. In museums, exhibition guide tour is widely conducted as a strong support for exhibition appreciation activity. Effectiveness in exhibition guide tour is based on its interactivity caused by face to face discussion between visitors and curator. However, it has strong restriction in space and time for curator, museums are not able to perform exhibition guide tour frequently. Therefore, we propose the systems that experts in exhibition theme can perform such guide tour through robot and network and provide more opportunities to present guide tours for museum visitors. The main idea of our system is that remote operator does not need to pay attention to locomotion control of robot. So that operator is able to concentrate on commentary on exhibits. In order to achieve the autonomous locomotion of robot we extended the rules of the use of space in proxemics, then proposed an algorithm to determine the appropriate position and speed of robot in during guidance of museum visitor. Evaluation report from experiment in museum site is also described.
