Design of personal mobility motion based on cooperative movement with a companion

Accompanying a person is one of the core capacities of a companion service robot and demands a smooth movement function with collision avoidance. In previous studies, on companion service robots, a robot moves in synchrony with a walking partner. However, in some cases, especially where potentially dangerous obstacles appear in the environment, a robot should lead its partner. A robot that leads its partner in appropriate environments should also enable smoother and more effective movement with the partner. This study aims to develop a motion design that realizes smooth cooperative movement with a human partner. Our proposed robot not only estimates its partner´s intention and moves accordingly, but also reveals its own intention to the partner. To realize this objective, we investigate conditions that induce the partner´s movement and propose a motion design that follows the partner´s intended movement. Our method was installed in a prototype vehicle and evaluated in experiments, and was proved useful as a leading mechanism.