Socially Acceptable Behaviour for Robots Approaching Humans using an Adaptable Personal Space

Kasper Camillus Jeppesen, Leon Bodenhagen, Norbert Krüger

Abstract

In this paper a new adaptable model of the personal space is proposed. This model takes into account the position of a persons hands aiming to facilitate interactions with the human while maintaining an appropriate social distance during the approach. This personal space model has been used as a cost function in the path planning algorithm Transition-based Rapidly exploring Random Trees. It allows users to influence the robot’s generated approach at the planning stage by varying their body and hand positions. Results from an online survey, where participants were shown different simulated approach behaviours, indicate that the model performs well when it comes to distance regulation and how close the robot comes during the approach. An interesting discovery from the survey is that the maintenance of eye contact, i.e. the robot keeping oriented towards the person during the approach, was positively associated with both the closeness of the robot during movement and judging the intentions of the robot for unaware users.

References

  1. Dautenhahn, K., Walters, M., Woods, S., Koay, K. L., and Nehaniv, C. L. (2006). How may I serve you? A robot companion approaching a seated person in a helping context. In 1st ACM SIGCHI/SIGART Conf. on Human-robot Interaction.
  2. Graf, B., Reiser, U., Hägele, M., Mauz, K., and Klein, P. (2009). Robotic home assistant Care-O-bot 3 - product vision and innovation platform. In IEEE Workshop on Advanced Robotics and its Social Impacts, pages 139-144.
  3. Hall, E. T. (1966). The Hidden Dimension. Garden City, N.Y., Doubleday.
  4. Jaillet, L., Cortés, J., and Siméon, T. (2008). Transitionbased RRT for Path Planning in Continuous Cost Spaces. In Intelligent Robots and Systems, pages 2145-2150.
  5. Jeppesen, K. C. (2015). Socially acceptable behavior for robots approaching humans. Master's thesis, University of Southern Denmark.
  6. Kirby, R., Simmons, R., and Forlizzi, J. (2009). Companion: A constraint optimizing method for personacceptable navigation. In IEEE Int. Symp.on Robot and Human Interactive Communication.
  7. LaValle, S. M. (2006). Planning Algorithms. Cambridge University Press, Cambridge, U.K.
  8. Mumm, J. and Mutlu, B. (2011). Human-robot proxemics: physical and psychological distancing in human-robot interaction. In 6th Int. Conf. on Human-robot Interaction.
  9. Rios-Martinez, J., Spalanzani, A., and Laugier, C. (2015). From proxemics theory to socially-aware navigation: A survey. Int. Journal of Social Robotics, 7(2):137- 153.
  10. Woods, S., Walters, M., Koay, K. L., and Dautenhahn, K. (2006). Comparing human robot interaction scenarios using live and video based methods: towards a novel methodological approach. In 9th IEEE Int. Work. on Advanced Motion Control, pages 750-755.
Download


Paper Citation


in Harvard Style

Jeppesen K., Bodenhagen L. and Krüger N. (2017). Socially Acceptable Behaviour for Robots Approaching Humans using an Adaptable Personal Space . In Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 2: HUCAPP, (VISIGRAPP 2017) ISBN 978-989-758-229-5, pages 116-121. DOI: 10.5220/0006193801160121


in Bibtex Style

@conference{hucapp17,
author={Kasper Camillus Jeppesen and Leon Bodenhagen and Norbert Krüger},
title={Socially Acceptable Behaviour for Robots Approaching Humans using an Adaptable Personal Space},
booktitle={Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 2: HUCAPP, (VISIGRAPP 2017)},
year={2017},
pages={116-121},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006193801160121},
isbn={978-989-758-229-5},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 2: HUCAPP, (VISIGRAPP 2017)
TI - Socially Acceptable Behaviour for Robots Approaching Humans using an Adaptable Personal Space
SN - 978-989-758-229-5
AU - Jeppesen K.
AU - Bodenhagen L.
AU - Krüger N.
PY - 2017
SP - 116
EP - 121
DO - 10.5220/0006193801160121