On-Line Adaptive Side-by-Side Human Robot Companion to Approach a Moving Person to Interact

  • Ely RepisoEmail author
  • Anaís Garrell
  • Alberto Sanfeliu
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 693)


In this paper, we present an on-line adaptive side-by-side human-robot companion to approach a moving person to interact with. Our framework makes the pair robot-human capable of overpass, in a joint way, the dynamic and static obstacles of the environment while they reach a moving goal, which is the person who wants to interact with the pair. We have defined a new moving final goal that depends on the environment, the movement of the group and the movement of the interacting person. Moreover, we modified the Extended Social Force model to include this new moving goal. The method has been validated over several situations in simulation. This work is an extension of [17].


Human-robot companion side-by-side Robot navigation Human-Robot Interaction Human-robot collaboration 


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Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  1. 1.Institut de Robòtica i Informàtica Industrial, CSIC-UPCBarcelonaSpain

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