How do people walk side-by-side?: using a computational model of human behavior for a social robot

  • Authors:

  • Luis Yoichi Morales Saiki;Satoru Satake;Rajibul Huq;Dylan Glas;Takayuki Kanda;Norihiro Hagita

  • Affiliations:

  • ATR Intelligent Robotics and Communication Laboratories, Kyoto, Japan;ATR Intelligent Robotics and Communication Laboratories, Kyoto, Japan;Intelligent Assistive Technology and Systems Lab, Kyoto, Japan & University of Toronto, Toronto, Canada;ATR Intelligent Robotics and Communication Laboratories, Kyoto, Japan;ATR Intelligent Robotics and Communication Laboratories, Kyoto, Japan;ATR Intelligent Robotics and Communication Laboratories, Kyoto, Japan

  • Venue:
  • HRI '12 Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction
  • Year:
  • 2012

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Abstract

This paper presents a computational model for side-by-side walking for human-robot interaction (HRI). In this work we address the importance of future motion utility (motion anticipation) of the two walking partners. Previous studies only considered a robot moving alongside a person without collisions with simple velocity-based predictions. In contrast, our proposed model includes two major considerations. First, it considers the current goal, modeling side-by-side walking, as a process of moving towards a goal while maintaining a relative position with the partner. Second, it takes the partner's utility into consideration; it models side-by-side walking as a phenomenon where two agents maximize mutual utilities rather than only considering a single agent utility. The model is constructed and validated with a set of trajectories from pairs of people recorded in side-by-side walking. Finally, our proposed model was tested in an autonomous robot walking side-by-side with participants and demonstrated to be effective.