Abstract
In this paper, we demonstrate through user studies that mobile robot trajectories that imitate human-to-human approach trajectories are perceived more socially acceptable in the face-to-face interaction scenario than those imitating point-to-point trajectories. We generate robot trajectories to/from a human standing at an arbitrary location by applying inverse optimal control to a human-to-human trajectory dataset. The cost function used in a previous work for modeling human point-to-point trajectories does not represent human-to-human trajectories due to the circular paths often observed around the target human. We therefore propose a new cost function motivated by the social force model. The user study confirms that the resulting trajectories are more preferred with statistical significance than baseline.
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Wen, Y., Wu, X., Yamane, K., Iba, S. (2022). Socially-Aware Mobile Robot Trajectories for Face-to-Face Interactions. In: Cavallo, F., et al. Social Robotics. ICSR 2022. Lecture Notes in Computer Science(), vol 13817. Springer, Cham. https://doi.org/10.1007/978-3-031-24667-8_1
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DOI: https://doi.org/10.1007/978-3-031-24667-8_1
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