Research on Human-Friendly Robot Motions : Motion of a Robot Holding Out an Object to a Human

Shibata, Satoru; Benlamine, Mohamed S.; Tanaka, Kanya; Shimizu, Akira

doi:10.1299/kikaic.64.279

Cited by 10 publications

(3 citation statements)

References 1 publication

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“…In particular, Shibata discussed that the bell-shaped velocity pattern is acceptable for human emotions compared to the trapezoidal velocity pattern when a robot approaches a human. (Shibata, et al,1998). Furthermore, in the preliminary experiment, a trapezoidal velocity pattern was evaluated lower than a bell-shaped pattern in the handshake motion.…”

Section: Handshake Response Motion Model With Active Approachmentioning

confidence: 99%

Small-sized handshake robot system for generation of handshake behavior with active approach to human

Ota

Jindai

Fukuta

et al. 2019

JAMDSM

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Humans shake hands as a sign of greeting, when they first meet one another, to express a feeling of rapport. For interactions involving a human and a robot, if the robot generates a handshake behavior that is emotionally acceptable to humans, it will lessen any feeling of aversion that the human has when initiating an interaction with the robot. For this reason, in our previous study, a handshake request motion model was proposed, where the robot generated a handshake behavior for the case when the robot actively approached a human. In this model, we studied the motion of a robot actively approaching humans, the handshake request motion from the robot and the start timing of the handshake. However, to promote embodied interaction smoothly, it is necessary for the robot to respond to the handshake requested by humans while still approaching them. Therefore, we developed a handshake robot system that generated a handshake behavior according to the request and response situation while actively approaching a human. First, a handshake response motion model for a handshake with active approach toward a human is proposed, based on an analysis of human handshake behaviors. In this model, the robot generates the response motion while it approaches the human. Furthermore, a switching handshake control with the active approach is developed where the robot generates either the request motion or the response motion, for a handshake according to the behavior of the human. By sensory evaluations, the effectiveness of the robot system using a switching handshake control was demonstrated.

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Section: Handshake Response Motion Model With Active Approachmentioning

confidence: 99%

Small-sized handshake robot system for generation of handshake behavior with active approach to human

Ota

Jindai

Fukuta

et al. 2019

JAMDSM

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show abstract

“…Therefore, adjustable parameters are selected on the basis of previous research studies (2), (3), (8) as follows.…”

Section: Adjustable Parametersmentioning

confidence: 99%

“…The handing motion of the robot must not only be physically safe but also psychologically appropriate. Research studies into the handing motion while considering human emotions have been discussed (1), (2) . In these research studies, a fixed motion parameter which is emotionally acceptable to many hu-mans has been proposed.…”

Section: Introductionmentioning

confidence: 99%

A Study on Robot-Human System with Consideration of Individual Preferences (2nd Report, Multimodal Human-Machine Interface for Object-Handing Robot System)

Jindai

Shibata

Yamamoto

et al. 2006

JSME Int. J., Ser. C

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In this study, we propose an object-handing robot system with a multimodal humanmachine interface which is composed of speech recognition and image processing units. Using this multimodal human-machine interface, the cooperator can order the object-handing robot system using voice commands and hand gestures. In this robot system, the motion parameters of the robot, which are maximum velocity, velocity profile peak and handing position, can be adjusted by the voice commands or the hand gestures in order to realize the most appropriate motion of the robot. Furthermore, the cooperator can order the handing of objects using voice commands along with hand gestures. In these voice commands, the cooperator can use adverbs. This permits the cooperator to realize efficient adjustments, because the adjustment value of each motion parameters is determined by adverbs. In particular, adjustment values corresponding to adverbs are estimated by fuzzy inference in order to take into consideration the ambiguities of human speech.

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Quantification of Elegant Motions for Receptionist Android Robot

Ikawa

Ueda

Yuguchi

et al. 2017

Lecture Notes in Computer Science

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Research on Human-Friendly Robot Motions : Motion of a Robot Holding Out an Object to a Human

Cited by 10 publications

References 1 publication

Small-sized handshake robot system for generation of handshake behavior with active approach to human

Small-sized handshake robot system for generation of handshake behavior with active approach to human

A Study on Robot-Human System with Consideration of Individual Preferences (2nd Report, Multimodal Human-Machine Interface for Object-Handing Robot System)

Quantification of Elegant Motions for Receptionist Android Robot

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