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Adaptive Robot to Person Encounter by Motion Patterns

  • Hans Jørgen Andersen
  • Thomas Bak
  • Mikael Svenstrup
Part of the Communications in Computer and Information Science book series (CCIS, volume 33)

Abstract

This paper introduces a new method for adaptive control of a robot approaching a person controlled by the person’s interest in interaction. For adjustment of the robot behavior a cost function centered in the person is adapted according to an introduced person evaluator method relying on the three variables: the distance between the person and the robot, the relative velocity between the two, and position of the person. The person evaluator method determine the person’s interest by evaluating the spatial relationship between robot and person in a Case Based Reasoning (CBR) system that is trained to determine to which degree the person is interested in interaction. The outcome of the CBR system is used to adapt the cost function around the person, so that the robot’s behavior is adapted to the expressed interest. The proposed methods are evaluated by a number of physical experiments that demonstrate the effectiveness of the adaptive cost function approach, which allows the robot to locate itself in front of a person who has expressed interest through his or hers spatial motion.

Keywords

Human-robot interaction Adaptive Control Social situatedness Patterns of behavior 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Hans Jørgen Andersen
    • 1
  • Thomas Bak
    • 2
  • Mikael Svenstrup
    • 2
  1. 1.Department for Media TechnologyAalborg UniversityAalborgDenmark
  2. 2.Department of Electronic Systems, Automation & ControlAalborg UniversityAalborgDenmark

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