Determining Shape and Size of Personal Space of a Human when Passed by a Robot
Autonomous mobile robots that operate in environments with people are expected to be able to deal with human proxemics and social distances. Previous research investigated how robots can approach persons or how to implement human-aware navigation algorithms. However, experimental research on how rob...
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| Published in | International journal of social robotics Vol. 14; no. 2; pp. 561 - 572 |
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| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
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Dordrecht
Springer Netherlands
01.03.2022
Springer Nature B.V |
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| Abstract | Autonomous mobile robots that operate in environments with people are expected to be able to deal with human proxemics and social distances. Previous research investigated how robots can approach persons or how to implement human-aware navigation algorithms. However, experimental research on how robots can avoid a person in a comfortable way is largely missing. The aim of the current work is to experimentally determine the shape and size of personal space of a human passed by a robot. In two studies, both a humanoid as well as a non-humanoid robot were used to pass a person at different sides and distances, after which they were asked to rate their perceived comfort. As expected, perceived comfort increases with distance. However, the shape was not circular: passing at the back of a person is more uncomfortable compared to passing at the front, especially in the case of the humanoid robot. These results give us more insight into the shape and size of personal space in human–robot interaction. Furthermore, they can serve as necessary input to human-aware navigation algorithms for autonomous mobile robots in which human comfort is traded off with efficiency goals. |
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| AbstractList | Abstract
Autonomous mobile robots that operate in environments with people are expected to be able to deal with human proxemics and social distances. Previous research investigated how robots can approach persons or how to implement human-aware navigation algorithms. However, experimental research on how robots can avoid a person in a comfortable way is largely missing. The aim of the current work is to experimentally determine the shape and size of personal space of a human passed by a robot. In two studies, both a humanoid as well as a non-humanoid robot were used to pass a person at different sides and distances, after which they were asked to rate their perceived comfort. As expected, perceived comfort increases with distance. However, the shape was not circular: passing at the back of a person is more uncomfortable compared to passing at the front, especially in the case of the humanoid robot. These results give us more insight into the shape and size of personal space in human–robot interaction. Furthermore, they can serve as necessary input to human-aware navigation algorithms for autonomous mobile robots in which human comfort is traded off with efficiency goals. Autonomous mobile robots that operate in environments with people are expected to be able to deal with human proxemics and social distances. Previous research investigated how robots can approach persons or how to implement human-aware navigation algorithms. However, experimental research on how robots can avoid a person in a comfortable way is largely missing. The aim of the current work is to experimentally determine the shape and size of personal space of a human passed by a robot. In two studies, both a humanoid as well as a non-humanoid robot were used to pass a person at different sides and distances, after which they were asked to rate their perceived comfort. As expected, perceived comfort increases with distance. However, the shape was not circular: passing at the back of a person is more uncomfortable compared to passing at the front, especially in the case of the humanoid robot. These results give us more insight into the shape and size of personal space in human–robot interaction. Furthermore, they can serve as necessary input to human-aware navigation algorithms for autonomous mobile robots in which human comfort is traded off with efficiency goals. |
| Author | Neggers, Margot M. E. Cuijpers, Raymond H. Ruijten, Peter A. M. IJsselsteijn, Wijnand A. |
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| Cites_doi | 10.1016/j.jamda.2010.10.002 10.1016/j.rcim.2009.10.003 10.1016/j.gaitpost.2007.03.015 10.1016/j.robot.2013.05.007 10.1016/j.actpsy.2018.12.009 10.1109/TRO.2007.904911 10.1016/j.concog.2010.09.022 10.1007/s12369-014-0251-1 10.1016/j.eswa.2016.09.026 10.1037/h0033961 10.1177/0013916505280081 10.1016/S0001-6918(01)00046-4 10.1037/h0081114 10.1162/105474601753272844 10.1007/s12369-013-0188-9 10.2466/pr0.1976.38.2.383 10.1007/BF01145461 10.5898/JHRI.5.2.Mead 10.1016/S0169-8141(97)00004-8 10.1037/0033-2909.85.1.117 10.1109/IROS.2012.6385716 10.1109/ICHR.2005.1573565 10.1007/978-3-030-05204-1_42 10.1109/IROS40897.2019.8968191 10.1007/978-3-319-70022-9_2 10.1109/ROMAN.2006.314436 10.1109/ROMAN.2009.5326271 10.1109/ROMAN.2005.1513803 10.1109/IROS.2014.6942921 10.1109/ROBOT.2010.5509772 10.1109/HRI.2013.6483561 10.1109/HSI.2014.6860460 10.1145/1514095.1514117 10.1007/978-3-319-70022-9_17 10.1109/ACCESS.2019.2937380 10.2307/2786027 10.1109/ICRA.2013.6630576 10.1109/ROMAN.2014.6926347 10.1007/978-3-540-78831-7_70 |
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| Keywords | Personal Space Human–Robot Proxemics Human-Aware Navigation |
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| Snippet | Autonomous mobile robots that operate in environments with people are expected to be able to deal with human proxemics and social distances. Previous research... Abstract Autonomous mobile robots that operate in environments with people are expected to be able to deal with human proxemics and social distances. Previous... |
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| SubjectTerms | Algorithms Autonomous navigation Comfort Control Engineering Humanoid Mechatronics Robotics Robots |
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| Title | Determining Shape and Size of Personal Space of a Human when Passed by a Robot |
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