research-article

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

Authors:

Luis Yoichi Morales Saiki,

Takayuki Kanda,

Norihiro HagitaAuthors Info & Claims

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

Pages 301 - 308

https://doi.org/10.1145/2157689.2157799

Published: 05 March 2012 Publication History

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.

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Peng JLiao ZYao HSu ZZeng YDai H(2023)MPC-Based Human-Accompanying Control Strategy for Improving the Motion Coordination Between the Target Person and the Robot2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)10.1109/IROS55552.2023.10342246(7969-7975)Online publication date: 1-Oct-2023
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How do people walk side-by-side?: using a computational model of human behavior for a social robot

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cover image ACM Conferences

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

March 2012

518 pages

ISBN:9781450310635

DOI:10.1145/2157689

General Chairs:
Holly Yanco
University of Massachusetts Lowell, USA
,
Aaron Steinfeld
Carnegie Mellon University, USA
,
Program Chairs:
Vanessa Evers
University of Amsterdam, The Netherlands
,
Odest Chadwicke Jenkins
Brown University, USA

Copyright © 2012 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Published: 05 March 2012

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HRI'12: International Conference on Human-Robot Interaction

March 5 - 8, 2012

Massachusetts, Boston, USA

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Overall Acceptance Rate 268 of 1,124 submissions, 24%

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https://doi.org/10.1016/j.birob.2024.100185
Peng JLiao ZYao HSu ZZeng YDai H(2023)MPC-Based Human-Accompanying Control Strategy for Improving the Motion Coordination Between the Target Person and the Robot2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)10.1109/IROS55552.2023.10342246(7969-7975)Online publication date: 1-Oct-2023
https://doi.org/10.1109/IROS55552.2023.10342246
Riek PWu A(2023)No Contact Needed: Humans Adapt Their Gait to Suit Legged Robot Companions2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)10.1109/IROS55552.2023.10341255(4147-4152)Online publication date: 1-Oct-2023
https://doi.org/10.1109/IROS55552.2023.10341255
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https://doi.org/10.1002/rob.22070
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Boschi ASalvetti FMazzia VChiaberge M(2020)A Cost-Effective Person-Following System for Assistive Unmanned Vehicles with Deep Learning at the EdgeMachines10.3390/machines80300498:3(49)Online publication date: 28-Aug-2020
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Lo SShort EThomaz ABelpaeme TYoung JGunes HRiek L(2020)Planning with Partner Uncertainty Modeling for Efficient Information Revealing in TeamworkProceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction10.1145/3319502.3374827(319-327)Online publication date: 9-Mar-2020
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