Natural person-following behavior for social robots
- 10 March 2007
- conference paper
- conference paper
- Published by Association for Computing Machinery (ACM)
Abstract
We are developing robots with socially appropriate spatial skills not only to travel around or near people, but also to accompany people side-by-side. As a step toward this goal, we are investigating the social perceptions of a robot's movement as it follows behind a person. This paper discusses our laser-based person-tracking method and two different approaches to person-following: direction-following and path-following. While both algorithms have similar characteristics in terms of tracking performance and following distances, participants in a pilot study rated the direction-following behavior as significantly more human-like and natural than the path-following behavior. We argue that the path-following method may still be more appropriate in some situations, and we propose that the ideal person-following behavior may be a hybrid approach, with the robot automatically selecting which method to use.Keywords
This publication has 14 references indexed in Scilit:
- Human-robot embodied interaction in hallway settings: a pilot user studyPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2006
- People tracking and following with mobile robot using an omnidirectional camera and a laserPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2006
- Encouraging physical therapy compliance with a hands-Off mobile robotPublished by Association for Computing Machinery (ACM) ,2006
- Person tracking with a mobile robot based on multi-modal anchoringPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- The curvature-velocity method for local obstacle avoidancePublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Tracking multiple moving targets with a mobile robot using particle filters and statistical data associationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- A social robot that stands in linePublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- A tutorial on particle filters for online nonlinear/non-Gaussian Bayesian trackingIEEE Transactions on Signal Processing, 2002
- Vision Based Person Tracking with a Mobile RobotPublished by British Machine Vision Association and Society for Pattern Recognition ,1998
- Health-care robotics goes commercial: the ‘HelpMate’ experienceRobotica, 1993