A study of a method for intention inference from human's behavior

In this paper, we propose a concept of symbiotic robot system with human, as well as a method for intention inference from the human's behavior for intelligent robots who carry out a simple task cooperatively with human, without complex communication. The robots get instantaneous data about the environment, including human, from sensors, and translate them into qualitative expressions that contain vague time scale as follows: "He is stopping for a while", "He changed his direction just now". If the task is very simple and the goal is clear, a human behavior model can be expressed by fuzzy automata. In this model, a transition of each human's situation is controlled by fuzzy rules using qualitative expressions. We set up a simple cooperative task, and propose a human behavior model corresponding to this case.<>