Alle Publikationen
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2014
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(2014) : Socially-appropriate approach paths using human data: The 23rd IEEE International Symposium on Robot and Human Interactive Communication: Edinburgh, Scotland: IEEE, S. 1037-1042
DOI: https://doi.org/10.1109/ROMAN.2014.6926389 Abstract: For service robots operating in indoor environments, the crucial task of navigation is often complicated by the presence of people. Simply treating humans in the environment as additional (often moving) obstacles can violate the complex set of social rules by which people navigate around each other. In contrast, emulating human behavior and navigating in a socially appropriate manner could positively affect people’s comfort with a robot’s presence and motion. We present a method of generating social paths for a robot to approach a person based on a small amount of human data. We also conducted a study in which a robot approached participants using both these social paths and straight-line, nonsocial paths. We found that both approaches were rated comparably when the robot approached from the participant’s front or side, but the social approach was significantly preferred when the robot came from behind the participant.
Keywords: Angemessen(heit) (von Technik), Collision avoidance, Data models, Distance measurement, Human behavior, ieee xplore, Legged locomotion, Magnetic heads, motion control, moving obstacles, Navigation, navigation task, person approach, robot motion, robot presence, service robot, social path, social path generation, social rules, socially-appropriate approach path, straight-line nonsocial path, Torso 2010
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(2010) : Secondary action in robot motion: 19th International Symposium in Robot and Human Interactive Communication: Viareggio, Italy: IEEE, S. 310-315
DOI: https://doi.org/10.1109/ROMAN.2010.5598730 Abstract: Secondary action, a concept borrowed from character animation, improves the animation realism by augmenting natural, passive motion to primary action. We use dynamic simulation to induce three techniques of secondary motion for robot hardware, which exploit actuation passivity to overcome hardware constraints and change the dynamic perception of the robot and its motion characteristics. Results of secondary motion due to internal and external forces are presented including discussion on how to choose the appropriate technique for a particular application.
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