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Kansei Analysis for Ubiquitous Robots InteraKansei Analysis for Ubiquitous Robots Interacting with People in Dynamic Environments cting with People in Dynamic Environments
ContentsContents IntroductionIntroduction Human BehaviorHuman Behavior Personal SpacePersonal Space New systemNew system Future aspectsFuture aspects ConstructionConstruction SummarySummary
IntroductionMobile robots, Autonomous robots, Android r
obots
Humanoid Robots (Human LIKE robot???)
Features:
• Interaction with Humans
• Imitate human actions
Simplified Version
HumanFront Side
Personal Space Generalized Circular Shape
80 cm 20 cm
30 cm
•Average distances with reference to generalized
circular diameter of a human
Generalization
• Considered as a percentage of 177.8% in front, 44.4% behind and 66.7% in sides as the following proportion yields.
(a_dist. / g.c.d.) X 100%
Relationships• Size and Distance
– Distance = K1 + K2 Size
• Shape and Distance– Distance = K3 + K4 Shape
Size / Shape
Distance
Moving Around• Safe distance (sd) and
• Personal distance (pd) (personal space)
Obstacle
HumanB
HumanA
sdgcd
2gcdRobot R
T =0
pd
Robot RT = t
Show Feelings
• Eyes and Mouth
Happy Unhappy
Blue / Green Yellow / Red
Distance
Distance Change
Feelings
MouthIndication
Eye Colour
Happy Unhappy
Measure for Personal Space
0 2 4 6 8 10 12 14 16 18 2040
60
80
100
120
140
160
Number of subjects
Dis
tanc
e to
the
robo
t [cm
]
Average distance
Fuzzy System
Fuzzyinference system
Fuzzyinference system
DistanceDistance
Rate of changeRate of changeFeelingFeeling