Socially Acceptable Behaviour for Robots Approaching Humans using an Adaptable Personal Space

Kasper Camillus Jeppesen, Leon Bodenhagen, Norbert Krüger

2017

Abstract

In this paper a new adaptable model of the personal space is proposed. This model takes into account the position of a persons hands aiming to facilitate interactions with the human while maintaining an appropriate social distance during the approach. This personal space model has been used as a cost function in the path planning algorithm Transition-based Rapidly exploring Random Trees. It allows users to influence the robot’s generated approach at the planning stage by varying their body and hand positions. Results from an online survey, where participants were shown different simulated approach behaviours, indicate that the model performs well when it comes to distance regulation and how close the robot comes during the approach. An interesting discovery from the survey is that the maintenance of eye contact, i.e. the robot keeping oriented towards the person during the approach, was positively associated with both the closeness of the robot during movement and judging the intentions of the robot for unaware users.

Paper Citation

in Harvard Style

Jeppesen K., Bodenhagen L. and Krüger N. (2017). Socially Acceptable Behaviour for Robots Approaching Humans using an Adaptable Personal Space . In Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 2: HUCAPP, (VISIGRAPP 2017) ISBN 978-989-758-229-5, pages 116-121. DOI: 10.5220/0006193801160121

in Bibtex Style

@conference{hucapp17,
author={Kasper Camillus Jeppesen and Leon Bodenhagen and Norbert Krüger},
title={Socially Acceptable Behaviour for Robots Approaching Humans using an Adaptable Personal Space},
booktitle={Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 2: HUCAPP, (VISIGRAPP 2017)},
year={2017},
pages={116-121},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006193801160121},
isbn={978-989-758-229-5},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 2: HUCAPP, (VISIGRAPP 2017)
TI - Socially Acceptable Behaviour for Robots Approaching Humans using an Adaptable Personal Space
SN - 978-989-758-229-5
AU - Jeppesen K.
AU - Bodenhagen L.
AU - Krüger N.
PY - 2017
SP - 116
EP - 121
DO - 10.5220/0006193801160121