Research on Human-Friendly Robot Motions : Motion of a Robot Holding Out an Object to a Human

Abstract

This paper examines human-friendly motions of a robot holding out an object to a human. The motion parameters which give humans various impressions are discussed and their human-friendly values are analyzed using the rating scale method. First, we investigated the velocity pattern of the robots'holding out motion. Experimental results show that the bell-shaped velocity pattern with velocity peak in the front of the movement time is one of human-friendly. Second, we investigated the influences of maximum velocity value. Experimental results show that appropriate values exist and appropriate values for females are smaller than males. Third, we investigated the desirable position to which the robot should hold out the object. Experimental results show that the position should be chosen so that the manipulability measure of human two-link arm becomes small.