Natural person-following behavior for social robots

Rachel Gockley, Jodi Forlizzi, Reid Simmons
2007 Proceeding of the ACM/IEEE international conference on Human-robot interaction - HRI '07  
We are developing robots with socially appropriate spatial skills not only to travel around or near people, but also to accompany people side-by-side. As a step toward this goal, we are investigating the social perceptions of a robot's movement as it follows behind a person. This paper discusses our laser-based person-tracking method and two different approaches to person-following: direction-following and path-following. While both algorithms have similar characteristics in terms of tracking
more » ... terms of tracking performance and following distances, participants in a pilot study rated the direction-following behavior as significantly more humanlike and natural than the path-following behavior. We argue that the path-following method may still be more appropriate in some situations, and we propose that the ideal personfollowing behavior may be a hybrid approach, with the robot automatically selecting which method to use.
doi:10.1145/1228716.1228720 dblp:conf/hri/GockleyFS07 fatcat:y4uviawdzjacvacxkx4zfhp624