Adaptive Robot to Person Encounter by Motion Patterns

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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 e
ectiveness 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.

Original languageEnglish
Title of host publicationProceedings of the International Conference on Research and Education in Robotics - EUROBOT 2008 : Mission to Mars
Number of pages11
Volume33
PublisherSpringer Science+Business Media
Publication date2009
Pages1-11
ISBN (Print)978-3-642-03557-9
ISBN (Electronic)978-3-642-03558-6
Publication statusPublished - 2009
EventResearch and Education in Robotics - EUROBOT 2008 - Heidelberg, Germany
Duration: 22 May 200824 May 2008

Conference

ConferenceResearch and Education in Robotics - EUROBOT 2008
CountryGermany
CityHeidelberg
Period22/05/200824/05/2008

Fingerprint

Intelligent robots
Robots
Cost functions
Case based reasoning

Keywords

  • Human-robot interaction
  • Adaptive Control
  • Social situatedness
  • Patterns of behavior

Cite this

Andersen, H. J., Bak, T., & Svenstrup, M. (2009). Adaptive Robot to Person Encounter by Motion Patterns. In Proceedings of the International Conference on Research and Education in Robotics - EUROBOT 2008: Mission to Mars (Vol. 33, pp. 1-11). Springer Science+Business Media.
Andersen, Hans Jørgen ; Bak, Thomas ; Svenstrup, Mikael. / Adaptive Robot to Person Encounter by Motion Patterns. Proceedings of the International Conference on Research and Education in Robotics - EUROBOT 2008: Mission to Mars. Vol. 33 Springer Science+Business Media, 2009. pp. 1-11
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Andersen, HJ, Bak, T & Svenstrup, M 2009, Adaptive Robot to Person Encounter by Motion Patterns. in Proceedings of the International Conference on Research and Education in Robotics - EUROBOT 2008: Mission to Mars. vol. 33, Springer Science+Business Media, pp. 1-11, Research and Education in Robotics - EUROBOT 2008, Heidelberg, Germany, 22/05/2008.

Adaptive Robot to Person Encounter by Motion Patterns. / Andersen, Hans Jørgen; Bak, Thomas; Svenstrup, Mikael.

Proceedings of the International Conference on Research and Education in Robotics - EUROBOT 2008: Mission to Mars. Vol. 33 Springer Science+Business Media, 2009. p. 1-11.

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

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Andersen HJ, Bak T, Svenstrup M. Adaptive Robot to Person Encounter by Motion Patterns. In Proceedings of the International Conference on Research and Education in Robotics - EUROBOT 2008: Mission to Mars. Vol. 33. Springer Science+Business Media. 2009. p. 1-11