Development of a Hand-Up Request Motion Model Based on Analysis of Hand-Up Motion Between Humans

Robots are expected to work in fields involving direct interaction with human. However, in order to work in these fields, the robot has to be accepted favorably by humans. Therefore, these robots need to start communication smoothly. In the previous research, hand-up response motion of robot has been discussed. The effectiveness of this model was demonstrated by experiments using a hand-up robot system that employed the developed model. On the other hand, robots should also be able to generate active hand-up motion in order to promote its embodied interaction with humans. However, request side of hand-up greeting interaction of robot has not been discussed. Therefore, in this paper, a hand-up request motion model was proposed for generation of hand-up greeting with voice greeting with human. Initially, hand-up greeting between mutual human is measured and analyzed. Based on the motion characteristics obtained from the analysis result, a hand-up request motion model in which a robot requests hand-up greeting with voice greeting from human is proposed. The effectiveness of the developed request motion model is demonstrated through sensory evaluation experiments.