Human -robot interface based on instructions by neck movement

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A human-robot system in which a mobile robot moves according to the instruction of the laser spot projected by the laser pointer attached at the human head is considered. Human gives instruction of desired movement to the robot by rotating his or her head. Three modes, stopping mode, following mode, and a mode to move to the desired position autonomously, are introduced. In the following mode, robot can realize intended movement by following the movement of the laser spot on the floor. Kansei controller is introduced between the instruction movement of the laser spot and following motion of the robot to realize psychologically acceptable motion of the robot. The effectiveness of the proposed system is discussed experimentally using an omni-directional robot.