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Speed adaptation for a robot walking with a human

Published: 10 March 2007 Publication History

Abstract

We have taken steps towards developing a method that enables an interactive humanoid robot to adapt its speed to a walking human that it is moving together with. This is difficult because the human is simultaneously adapting to the robot. From a case study in human-human walking interaction we established a hypothesis about how to read a human's speed preference based on a relationship between humans' walking speed and their relative position in the direction of walking. We conducted two experiments to verify this hypothesis: one with two humans walking together, and one with a human subject walking with a humanoid robot, Robovie-IV. For 11 out of 15 subjects who walked with the robot, the results were consistent with the speed-position relationship of the hypothesis. We also conducted a preferred speed estimation experiment for six of the subjects. All of them were satisfied with one or more of the speeds that our algorithm estimated and four of them answered one of the speeds as the best one if the algorithm was allowed to give three options. In the paper, we also discuss the difficulties and possibilities that we learned from this preliminary trial.

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cover image ACM Conferences
HRI '07: Proceedings of the ACM/IEEE international conference on Human-robot interaction
March 2007
392 pages
ISBN:9781595936172
DOI:10.1145/1228716
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Published: 10 March 2007

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HRI07
HRI07: International Conference on Human Robot Interaction
March 10 - 12, 2007
Virginia, Arlington, USA

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HRI '07 Paper Acceptance Rate 22 of 101 submissions, 22%;
Overall Acceptance Rate 268 of 1,124 submissions, 24%

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Cited By

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  • (2024)"Noisy" Matching of Motion Velocity of an Assistive Robot to the Users' Walking VelocityCompanion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction10.1145/3610978.3640546(641-645)Online publication date: 11-Mar-2024
  • (2023)The Beginning and Acceptance of Data Engineering Roboticsデータ工学ロボティクスの始まりと受容Journal of the Robotics Society of Japan10.7210/jrsj.41.43741:5(437-442)Online publication date: 2023
  • (2023)Affective Corners as a Problematic for Design InteractionsACM Transactions on Human-Robot Interaction10.1145/359645212:4(1-9)Online publication date: 23-Jun-2023
  • (2023)Not Only WEIRD but “Uncanny”? A Systematic Review of Diversity in Human–Robot Interaction ResearchInternational Journal of Social Robotics10.1007/s12369-023-00968-415:11(1841-1870)Online publication date: 8-Mar-2023
  • (2022)A survey on the design and evolution of social robots — Past, present and futureRobotics and Autonomous Systems10.1016/j.robot.2022.104193156:COnline publication date: 1-Oct-2022
  • (2022)Shared Autonomy for Telepresence Robots Based on People-Aware NavigationIntelligent Autonomous Systems 1610.1007/978-3-030-95892-3_9(109-122)Online publication date: 8-Apr-2022
  • (2021)A Study on the Amount of Speech in Partner Robots for Purposeless Walking目的のない散歩のためのパートナーロボットにおける発話量の検討Journal of Japan Society for Fuzzy Theory and Intelligent Informatics10.3156/jsoft.33.1_58233:1(582-592)Online publication date: 15-Feb-2021
  • (2020)How automatic speed control based on distance affects user behaviours in telepresence robot navigation within dense conference-like environmentsPLOS ONE10.1371/journal.pone.024207815:11(e0242078)Online publication date: 19-Nov-2020
  • (2019)Walking partner robot chatting about sceneryAdvanced Robotics10.1080/01691864.2019.161006233:15-16(742-755)Online publication date: 29-Apr-2019
  • (2018)On Humanoid Co-Robot Locomotion when Mechanically Coupled to a Human Partner2018 15th International Conference on Ubiquitous Robots (UR)10.1109/URAI.2018.8441890(412-419)Online publication date: Jun-2018
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