Examination by software simulation on preliminary-announcement and display of mobile robot's following action by lamp or blowouts

This paper discusses the preliminary-announcement and display function of the robot's following action and intention, especially about the direction of motion and the speed of motion for mobile robot which moves on a 2-dimensional plane. We started with a software simulation about the announcement method indicating a state just after the moment, with lighting lamps and with using blowouts (elastic arrow) on translation and rotation separately. As a result, the following three remarks have been obtained: not only the direction of motion but also the speed of motion is effective to estimate the following translation. Not the rotation speed but the rotation angle (the target direction) is efficient to understand the following revolution. Around 1-second before the actual motion is the optimal timing to recognize the robot's following motion both on translation and rotation. Moreover we have verified the validity of the preliminary-announcement and display also for the general movement on a plane.

[1]  Shigeo Morishima,et al.  Dynamic micro aspects of facial movements in elicited and posed expressions using high-speed camera , 2001, Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591).

[2]  Norihiro Hagita,et al.  Gaze communication between human and anthropomorphic agent-its concept and examples , 2001, Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591).

[3]  Takafumi Matsumaru,et al.  Preliminary-announcement and display for translation and rotation of human-friendly mobile robot , 2001, Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591).

[4]  Y. Matsumotot,et al.  Development of intelligent wheelchair system with face and gaze based interface , 2001, Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591).

[5]  Paolo Dario,et al.  Adaptable semi-autonomy in personal robots , 2001, Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591).

[6]  Fumio Hara,et al.  Realistic facial expressions by SMA driven face robot , 2001, Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591).

[7]  Minoru Hashimoto,et al.  Development of a torque sensing robot arm for interactive communication , 2002, Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication.

[8]  Birgit Graf,et al.  Robotic home assistant Care-O-bot: past-present-future , 2002, Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication.

[9]  E. Prassler,et al.  Motion coordination between a human and a robotic wheelchair , 2001, Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591).

[10]  G. van Wichert,et al.  Man-machine interaction for robot applications in everyday environments , 2001, Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591).

[11]  Yasuhisa Hasegawa,et al.  Human-robot mutual communication system , 2001, Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591).

[12]  M. Nahas,et al.  Image technology and facial expression of emotions , 2001, Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591).

[13]  B. Graf,et al.  Non-holonomic navigation system of a walking-aid robot , 2002, Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication.

[14]  Cynthia Breazeal,et al.  Proto-conversations with an anthropomorphic robot , 2000, Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499).

[15]  Shigeki Sugano,et al.  Development of an anthropomorphic force-controlled manipulator WAM-10 , 1997, 1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97.

[16]  Takafumi Matsumaru,et al.  Preliminary Announcement and Display for Human-Friendly Mobile Robot , 2001 .