{"title":"一起散步","authors":"Y. Morales, T. Kanda, N. Hagita","doi":"10.5898/JHRI.3.2.Morales","DOIUrl":null,"url":null,"abstract":"This paper presents a computational model for side-by-side walking within human-robot interaction (HRI). In this work we address the importance of future motion utility (motion anticipation) of two walking partners. Previous studies only considered a robot moving alongside a person without collisions and with simple velocity-based predictions. In contrast, our proposed model includes two major considerations. First, it considers the current goal, modeling side-by-side walking as a process of moving toward a goal while maintaining a relative position with the partner. Second, it takes the partner's utility into consideration; it models side-by-side walking as a phenomenon where two agents maximize mutual utilities rather than only considering a single agent utility. The model is constructed based in a set of trajectories from pairs of people recorded in side-by-side walking; then, parameters of the model were calibrated for a mobile robot and tested in an autonomous robot walking side-by-side with participants. Finally, two evaluations were performed. The first evaluation shows that the proposed model considering mutual utilities performs better than a single utility method and a method that keeps distance from the walking partner. In the second evaluation the proposed method was used for a robot deployed in a shopping mall environment where it demonstrated to be effective.","PeriodicalId":92076,"journal":{"name":"Journal of human-robot interaction","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2014-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.5898/JHRI.3.2.Morales","citationCount":"60","resultStr":"{\"title\":\"Walking together\",\"authors\":\"Y. Morales, T. Kanda, N. Hagita\",\"doi\":\"10.5898/JHRI.3.2.Morales\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents a computational model for side-by-side walking within human-robot interaction (HRI). In this work we address the importance of future motion utility (motion anticipation) of two walking partners. Previous studies only considered a robot moving alongside a person without collisions and with simple velocity-based predictions. In contrast, our proposed model includes two major considerations. First, it considers the current goal, modeling side-by-side walking as a process of moving toward a goal while maintaining a relative position with the partner. Second, it takes the partner's utility into consideration; it models side-by-side walking as a phenomenon where two agents maximize mutual utilities rather than only considering a single agent utility. The model is constructed based in a set of trajectories from pairs of people recorded in side-by-side walking; then, parameters of the model were calibrated for a mobile robot and tested in an autonomous robot walking side-by-side with participants. Finally, two evaluations were performed. The first evaluation shows that the proposed model considering mutual utilities performs better than a single utility method and a method that keeps distance from the walking partner. In the second evaluation the proposed method was used for a robot deployed in a shopping mall environment where it demonstrated to be effective.\",\"PeriodicalId\":92076,\"journal\":{\"name\":\"Journal of human-robot interaction\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2014-07-10\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://sci-hub-pdf.com/10.5898/JHRI.3.2.Morales\",\"citationCount\":\"60\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of human-robot interaction\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.5898/JHRI.3.2.Morales\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of human-robot interaction","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.5898/JHRI.3.2.Morales","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
This paper presents a computational model for side-by-side walking within human-robot interaction (HRI). In this work we address the importance of future motion utility (motion anticipation) of two walking partners. Previous studies only considered a robot moving alongside a person without collisions and with simple velocity-based predictions. In contrast, our proposed model includes two major considerations. First, it considers the current goal, modeling side-by-side walking as a process of moving toward a goal while maintaining a relative position with the partner. Second, it takes the partner's utility into consideration; it models side-by-side walking as a phenomenon where two agents maximize mutual utilities rather than only considering a single agent utility. The model is constructed based in a set of trajectories from pairs of people recorded in side-by-side walking; then, parameters of the model were calibrated for a mobile robot and tested in an autonomous robot walking side-by-side with participants. Finally, two evaluations were performed. The first evaluation shows that the proposed model considering mutual utilities performs better than a single utility method and a method that keeps distance from the walking partner. In the second evaluation the proposed method was used for a robot deployed in a shopping mall environment where it demonstrated to be effective.