Analysis of human avoidance motion for application to robot

The possibility of applying human avoidance motion to robot is considered. Our target of human avoidance motion in this study is passing motions. Two experiments, the passing motion experiments on the road and in the laboratory, were conducted to construct the robot avoidance motion algorithm by using human avoidance motion. The characteristics of the avoidance algorithm were obtained by the analysis of the result from the experiment on the road. From the result of the experiment in the laboratory, it was found that when the subjects were walking at an almost constant velocity and passed each other, the locus could be approximated into a catenary. The avoidance algorithm was constructed based on the data obtained from all the experiments, and the area of human's space was calculated. In addition, the avoidance motion simulation of the robot using the avoidance algorithm obtained has been performed.