Maai Control for Humanoid Robots by Accumulation of Uncomfortable Feelings

摘要

In this paper, we propose Maai Control Method to realize humanoid robots, which communicate with human by taking account of the distance as human does. The proposed method makes the robot to have both an oppressive feeling and a sense of alienation as human feels according to the distance from the communication partners. These feelings are accumulated over time and when the amount exceeded the limit, the robot will move so that the distance becomes appropriate one. We measured the parameters for the oppressive feeling, the sense of alienation, and the accumulation of uncomfortable feelings by experiments with human and implemented the proposed Maai Control Method with these parameters on humanoid robot "Robovie". We also conducted experiments with subjects and confirmed that the proposed method affords the comfortableness of communication.