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A model of handing interaction towards a pedestrian
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. (CAS)ORCID iD: 0000-0003-2078-8854
Advanced Telecommunications Research International. (Intelligent Robotics and Communications Laboratories)
Advanced Telecommunications Research International. (Intelligent Robotics and Communications Laboratories)
Advanced Telecommunications Research International. (Intelligent Robotics and Communications Laboratories)
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2013 (English)In: 8th ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2013, IEEE conference proceedings, 2013, 415-416 p.Conference paper, Oral presentation with published abstract (Refereed)
Abstract [en]

This video reports our research on developing a model for a robot handing flyers to pedestrians. The difficulty is that potential receivers are pedestrians who are not necessarily cooperative; thus, the robot needs to appropriately plan its motion making it is easy and non-obstructive for potential receivers to receive the flyers. In order to establish a model, we analyzed human interaction, and found that (1) a giver approaches a pedestrian from frontal right/left but not frontal center, and (2) he simultaneously stops his walking motion and arm-extending motion at the moment when he hands out the flyer. Using these findings, we established a model for a robot to perform natural proactive handing. The proposed model is implemented in a humanoid robot and is confirmed as effective in a field experiment.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2013. 415-416 p.
Keyword [en]
Human Robot Interaction, Object Handing
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-123988DOI: 10.1109/HRI.2013.6483624Scopus ID: 2-s2.0-84875729332ISBN: 978-1-4673-3100-5 (print)ISBN: 978-1-4673-3099-2 (print)OAI: oai:DiVA.org:kth-123988DiVA: diva2:631945
Conference
Proceedings of the 8th ACM/IEEE international conference on Human-robot interaction, 3-6 March 2013 Tokyo
Note

QC 20130719

Available from: 2013-06-24 Created: 2013-06-24 Last updated: 2013-07-19Bibliographically approved

Open Access in DiVA

SMITH_HRI_2013.pdf(610 kB)41 downloads
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Type fulltextMimetype application/pdf

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Smith, Christian

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