A mobile robot that performs human acceptable motions

The presence of humans should be explicitly taken into account in all steps of robot´s design and particularly for robot motion. The robot should reason about human partner´s accessibility, his vision field and potential shared motions and behave as a social being by respecting social rules and protocols. This paper describes the algorithms and results of a navigation planner that takes into account the human presence explicitly. This planner is part of a human-aware motion and manipulation planning and control system that we aim to develop in order to achieve motion and manipulation tasks in presence and/or in synergy with human