Robot companion: A social-force based approach with human awareness-navigation in crowded environments
Robot companion: A social-force based approach with human awareness-navigation in crowded environments
- Neue Suche nach: Ferrer, Gonzalo
- Neue Suche nach: Garrell, Anaís
- Neue Suche nach: Sanfeliu, Alberto
- Neue Suche nach: Ferrer, Gonzalo
- Neue Suche nach: Garrell, Anaís
- Neue Suche nach: Sanfeliu, Alberto
Trabajo presentado al IROS celebrado en Tokyo del 3 al 7 de noviembre de 2013. ; 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. ; Work supported by the Spanish Ministry of Science and Innovation under project RobTaskCoop (DPI2010-17112). ; Peer Reviewed
Dokumentinformationen
Robot companion: A social-force based approach with human awareness-navigation in crowded environments
2013-01-01
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
| DDC: | 629 |
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