Motion design of service robot ??? Study on human impression

摘要

This research proposes the motion design for the service robot to give the positive impression to the human. This paper, therefore, considers the normative motion being designed for service robot to mimic the human motion. The problems in case of finding out the normative motion from the human motion is how to specify one person's motion from different motions caused by individual physical characteristics. We have solved above mentioned problem by expressing humanmotion on the phase plaen. Individual motions on the phase plane were fitted to the one ellipse by using least-squares method. And we regarded this ellipse as the Normative motion. This ellipse trajectory integrates some motions even if different motions in time domain, and can absorb different motions cycle and amplitude caused by individual physical characteristics and peculiarities. This ellipse trajectory was expressed as the time series functions by inverse mapping from phase to time domain, and they were implemented to the service robot in the simulation to replay the normative motion. Finally, in order to discuss the human impression from replayed standard human motion, the evaluation experiment was conducted. From the experimental results, it was confirmed that the impression of the proposed normative motion gives us positive impression in our experimental condition.