Adaptive Side-by-Side Social Robot Navigation to Approach and Interact with People
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S.I.: THE MUTUAL SHAPING OF HUMAN-ROBOT INTERACTION
Adaptive Side-by-Side Social Robot Navigation to Approach and Interact with People Ely Repiso1
· Anaís Garrell1 · Alberto Sanfeliu1
Accepted: 10 May 2019 © Springer Nature B.V. 2019
Abstract This paper presents a new framework for how autonomous social robots approach and accompany people in urban environments. The method discussed allows the robot to accompany a person and approach to other one, by adapting its own navigation in anticipation of future interactions with other people or contact with static obstacles. The contributions of the paper are manifold: firstly, we extended the Social Force model and the Anticipative Kinodynamic Planner (Ferrer and Sanfeliu, in: IEEE/RSJ international conference on intelligent robots and systems. IEEE, 2014) to the case of an adaptive side-by-side navigation; secondly, we enhance side-by-side navigation with an approaching task and a final positioning that allows the robot to interact with both people; and finally, we use findings from experiments of real-life observations of people walking in pairs to define the parameters of the human–robot interaction in our case of adaptive side-by-side. The method was validated by a large set of simulations; we also conducted real-life experiments with our robot, Tibi, to validate the framework described for the interaction process. In addition, we carried out various surveys and user studies to indicate the social acceptability of the robots performance of the accompanying, approaching and positioning tasks. Keywords Human–robot companion side-by-side · Human–robot approaching · Robot navigation · Human–robot interaction · Human–robot collaboration
1 Introduction In order to share our environment with robots in a comfortable manner, we need to endow them with the cognitive functions that will enable them to assist and collaborate with Work supported by the Spanish Ministry of Science and Innovation under project ColRobTransp (DPI2016-78957-R. AEI/FEDER EU), by the Spanish State Research Agency through the Maria de Maeztu Seal of Excellence to IRI (MDM-2016-0656) and EU TERRINET project (H2020-INFRAIA-2017-1-two-stage-730994). Ely Repiso is also supported by Spanish Ministry of Science and Innovation under a FPI-grant (BES-2014-067713).
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Ely Repiso [email protected] Anaís Garrell [email protected] https://orcid.org/0000-0002-4629-0723 Alberto Sanfeliu [email protected] https://orcid.org/0000-0003-3868-9678
1
Institut de Robòtica i Informàtica Industrial (CSIC-UPC), Llorens Artigas 4-6, 08028 Barcelona, Spain
people as they go about their daily tasks [2–4]. These collaborations will improve our quality of live by compensating our shortcomings to perform certain tasks. As for example: Companion robots can allow elder people to fend for themselves or complement the people abilities to do a better work. Then, society is evolving to obtain social robots to help people and this evolution may change the society to have a more independent elder population. There is a mutual
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