Title :
Robot companion: A social-force based approach with human awareness-navigation in crowded environments
Author :
Ferrer, Gonzalo ; Garrell, A. ; Sanfeliu, Alberto
Author_Institution :
Inst. de Robot. i Inf. Ind., UPC, Barcelona, Spain
Abstract :
Robots accompanying humans is one of the core capacities every service robot deployed in urban settings should have. We present a novel robot companion approach based on the so-called Social Force Model (SFM). A new model of robot-person interaction is obtained using the SFM which is suited for our robots Tibi and Dabo. Additionally, we propose an interactive scheme for robot´s human-awareness navigation using the SFM and prediction information. Moreover, we present a new metric to evaluate the robot companion performance based on vital spaces and comfortableness criteria. Also, a multimodal human feedback is proposed to enhance the behavior of the system. The validation of the model is accomplished throughout an extensive set of simulations and real-life experiments.
Keywords :
control engineering computing; human-robot interaction; service robots; Dabo; SFM; Tibi; comfortableness criteria; crowded environments; human awareness-navigation; interactive scheme; multimodal human feedback; prediction information; robot companion approach; robot companion performance; robot human-awareness navigation; robot-person interaction; service robot; social force model; social-force based approach; vital spaces; Force; Mathematical model; Measurement; Navigation; Robot sensing systems; Trajectory;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
Conference_Location :
Tokyo
DOI :
10.1109/IROS.2013.6696576