Mobile Robot's Passing Motion Algorithm Based on Subjective Evaluation.

Abstract

The purpose of this study was to construct the passing motion algorithm of a mobile robot for a man using subjective evaluation. In order to decide scales to be used in experiments, twenty-nine pairs of adjectives, which related to humanfriendly robot motion, was classified into familiarity, activity and reliability factors using factor analysis. Then a mobilerobot, which referred to a transfer robot in a hospital, was manufactured for experiments. The robot had a distance-measuring system using ultrasonic sensors. Seven parameters of human passing motion were examined in the experiments between man and the robot using subjective evaluation scales. The passing motion algorithm of a robot for a man was constructed by synthesizing the results of evaluations.