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26. How Do People Walk Side-By-Side? - Using A Computational Model Of Human Behavior For A Social Robot.

Author

Morales, Yoichi, Satake, Satoru, Huq, Rajibul, Glas, Dylan, Kanda, Takayuki, and Hagita, Norihiro

Subjects
ROBOTIC path planning, HUMAN-robot interaction, ROBOTS & society, HUMANOID robots
Abstract

This paper presents a computational model for side-by-side walking for human-robot interaction (HRI). In this work we address the importance of future motion utility (motion anticipation) of the two walking partners. Previous studies only considered a robot moving alongside a person without collisions with simple velocity-based predictions. In contrast, our proposed model includes two major considerations. First, it considers the current goal, modeling side-by-side walking, as a process of moving towards a goal while maintaining a relative position with the partner. Second, it takes the partner's utility into consideration; it models side-by-side walking as a phenomenon where two agents maximize mutual utilities rather than only considering a single agent utility. The model is constructed and validated with a set of trajectories from pairs of people recorded in side-by-side walking. Finally, our proposed model was tested in an autonomous robot walking side-by-side with participants and demonstrated to be effective. [ABSTRACT FROM AUTHOR]

Published
2012

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