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Robot approaching and engaging people in a human-robot companion framework
dc.contributor.author | Repiso Polo, Ely |
dc.contributor.author | Garrell Zulueta, Anais |
dc.contributor.author | Sanfeliu Cortés, Alberto |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2019-02-05T15:55:12Z |
dc.date.available | 2019-02-05T15:55:12Z |
dc.date.issued | 2018 |
dc.identifier.citation | Repiso, E.; Garrell, A.; Sanfeliu, A. Robot approaching and engaging people in a human-robot companion framework. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)". Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 8200-8205. |
dc.identifier.uri | http://hdl.handle.net/2117/128500 |
dc.description | © 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
dc.description.abstract | This paper presents a new model to make robots capable of approaching and engaging people with a human-like behavior, while they are walking in a side-by-side formation with a person. This method extends our previous work [1], which allows the robot to adapt its navigation behaviour according to the person being accompanied and the dynamic environment. In the current work, the robot is able to predict the best encounter point between the human-robot group and the approached person. Then, in the encounter point the robot modifies its position to achieve an engagement with both people. The encounter point is computed using a gradient descent method that takes into account all people predictions. Moreover, we make use of the Extended Social Force Model (ESFM), and it is modified to include the dynamic goal. The method has been validated over several situations and in real-life experiments, in addition, a user study has been realized to reveal the social acceptability of the robot in this task. |
dc.format.extent | 6 p. |
dc.language.iso | eng |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.other | humanoid robots |
dc.subject.other | mobile robots |
dc.subject.other | service robots |
dc.subject.other | social aspects of automation |
dc.subject.other | Robot Companion Side-by-Side |
dc.subject.other | Robot Navigation |
dc.subject.other | Human-Robot Interaction |
dc.subject.other | Human-Robot Collaboration |
dc.subject.other | Huma-Robot approach |
dc.title | Robot approaching and engaging people in a human-robot companion framework |
dc.type | Conference report |
dc.contributor.group | Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents |
dc.identifier.doi | 10.1109/IROS.2018.8594149 |
dc.description.peerreviewed | Peer Reviewed |
dc.subject.inspec | Classificació INSPEC::Automation::Robots |
dc.relation.publisherversion | https://ieeexplore.ieee.org/document/8594149 |
dc.rights.access | Open Access |
local.identifier.drac | 23657716 |
dc.description.version | Postprint (author's final draft) |
dc.relation.projectid | info:eu-repo/grantAgreement/MINECO/2PE/MDM-2016-0656 |
dc.relation.projectid | info:eu-repo/grantAgreement/MINECO/2PE/DPI2016-78957-R |
local.citation.author | Repiso, E.; Garrell, A.; Sanfeliu, A. |
local.citation.contributor | IEEE/RSJ International Conference on Intelligent Robots and Systems |
local.citation.publicationName | 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
local.citation.startingPage | 8200 |
local.citation.endingPage | 8205 |