开发可在保持一定距离的情况下手牵手引领客人的个人向导机器人

Hironobu Wakabayashi, Y. Hiroi, Kenzaburo Miyawaki, Akinori Ito
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引用次数: 0

摘要

本文提出了一种新型导游机器人 "ASAHI ReBorn",它可以一对一地手把手带领客人,同时与客人保持适当的距离。该机器人使用可伸缩的手臂接口握住客人的手,并根据客人的步伐调整速度。机器人还能利用 "机器人侧边法 "准确地沿着给定的引导路径前进。"机器人侧边法 "是一种机器人导航方法,能快速、准确地沿着预先设定的路径前进。此外,还引入了一种限制机器人角速度的控制方法,以避免机器人在引导客人时快速转弯。我们通过实验和用户研究评估了拟议机器人的性能和可用性。导览实验表明,与机器人以恒定速度移动的情况相比,利用可伸缩手臂保持机器人与游客之间距离的拟议方法使游客能够环视展品。
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Development of a Personal Guide Robot That Leads a Guest Hand-in-Hand While Keeping a Distance
This paper proposes a novel tour guide robot, “ASAHI ReBorn”, which can lead a guest by hand one-on-one while maintaining a proper distance from the guest. The robot uses a stretchable arm interface to hold the guest’s hand and adjusts its speed according to the guest’s pace. The robot also follows a given guide path accurately using the Robot Side method, a robot navigation method that follows a pre-defined path quickly and accurately. In addition, a control method is introduced that limits the angular velocity of the robot to avoid the robot’s quick turn while guiding the guest. We evaluated the performance and usability of the proposed robot through experiments and user studies. The tour-guiding experiment revealed that the proposed method that keeps distance between the robot and the guest using the stretchable arm enables the guests to look around the exhibits compared with the condition where the robot moved at a constant velocity.
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