Following Angle of a Human-Following Robot

Human-following capabilities of robots may become important in assistive robotic applications to facilitate many daily tasks (e.g. carrying personal items or groceries). Robot’s following distance, following angle and acceleration influence the quality of the interaction between the human and the robot by impacting walking efficiency (e.g., pace, flow and unwanted stops), user comfort and robot likability.

ICR Our team gave a presentation at the ICR 2016 conference focusing on Subjective preferences regarding human-following robots: preliminary evidence from laboratory experiments.

The Influence of Following Angle on Performance Metrics -

Following Angles of a human-following Pioneer LX Robot (Honig, Katz, Edan & Oron-Gilad)

  • This research effort is led by our graduate student Shanee Honig
  • For the person-tracking and following algorithm (Dror Katz & Yael Edan, work in progress) we use the Pioneer LX Robot’s built in camera and a Microsoft Kinect.
  • Currently we focus on 3 angles of following: back following (0 degree angle), a 30 degree angle, and a 60 degree angle.
  • We use a personal item manipulation (e.g., wallet) to examine how participants engage with the robot. Naturally when participants place a personal item on the robot, they become more engaged with it.
  • Come see us at the HCII 2016 where we will present a poster on sensitivity of older users (68 and above) to the quality of interaction, depending on robot’s following distance and acceleration, and the context of walk – Follow Me: Proxemics and Responsiveness Preferences of Older Users in a Human-Following Robot.


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