Speed adaptation for a robot walking with a human
Speed adaptation for a robot walking with a human
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与人类行走的机器人的速度自适应
DOI：
10.1145/1228716.1228763
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
N. Hagita
中科院分区：
文献类型：
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作者：
Emma Sviestins;N. Mitsunaga;T. Kanda;H. Ishiguro;N. Hagita
我们已经采取了一些措施来开发一种方法，使交互式人形机器人能够适应与它一起移动的行走的人的速度。这很困难，因为人类同时也在适应机器人。本文以人类行走交互为例，基于人类行走速度与行走方向相对位置的关系，提出了如何解读人类行走速度偏好的假设。我们进行了两个实验来验证这一假设：一个是两个人一起走，另一个是一个人类受试者和一个人形机器人Robovie-IV一起走。在与机器人一起行走的15名受试者中，有11人的结果与假设的速度-位置关系一致。我们还对其中6名受试者进行了首选速度估计实验。所有人都对我们算法估计的一个或多个速度感到满意，如果允许算法给出三个选项，其中四个回答其中一个速度是最好的。本文还讨论了我们从这次初步试验中学到的困难和可能性。
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.