Human-Robot Interaction: Legible behaviour rules in passing and crossing events

DANIEL HERRERA; FLAVIO ROBERTI; TOIBERO, J. M.; RICARDO CARELLI

Córdoba

Workshop; XVI reunión de trabajo de procesamiento en información y control 2015; 2015

UTN Regional Córdoba

In human-robot interaction, the incorporationof social rules results to be crucial toguarantee the comfort of the human. This should beattained by means of improving the legibility of therobot motions, because developing soft and smoothmotion only, does not guarantee a social acceptablemotion. Hence, in this paper a novel fuzzy logic approachis proposed to incorporate social rules in walkingevents, where the relative positions, orientations,distances and velocities between the robots and thehumans are considered. Additionally to verify its performance,its incorporation in a path-following controlthrough social forces is proposed. The simulationresults demonstrate that the system is able to overcomemany usual interferer situations, and to adapthis behavior to different interference events over time.