The mobile robot which passes a man

摘要

Using characteristics of human passing (i.e., the way in which a person moves to pass another person who is walking towards him), which were obtained from experiments, an algorithm of the typical human passing was constructed. The mobile robot which realizes this algorithm of human passing was manufactured and conducted a passing experiment to confirm the motion of this mobile robot. The robot has a distance measuring system, a controller, and a motor driver. The distance measuring system is used to detect a relative position to and the velocity of man. The controller includes a microcomputer which has a basic motion program and a human passing motion program based on the human passing algorithm. The motor driver controls 2 stepping motors for the robot motion. The results of the motion of a passing experiment using a man and this robot was identical with the characteristics of human passing. Therefore, we considered that this mobile robot realized part of human passing motion.