Design of legible autonomous leading behavior based on dogs' approach

This study addressed the leading behavior of a robot. To lead a person when the person's attention is initially elsewhere, the robot's behavior should be designed such that it seeks the person's attention and seamlessly brings him or her to a target location. Therefore, we set out to design and implement a leading behavior for a robot inspired by the dogs' behavior sequence. In particular, we considered the legibility of the movements used by the robot to show a robot's destination clearly. We evaluated the autonomous robot's leading behavior through an experiment.