Motion planning of etiquette sensitive service robot

Abstract

During the last 10 years, many researchers have developed service robots. Today, one of the most intriguing issues in robot research domain would be the way to interact with humans. Considering the interaction among people, we can easily find that etiquette does important role in one-to-one or one-to-many interpersonal relationships. If service robots could perform basic etiquettes when they are interacting with people as people do among themselves, people shown those acts would feel respected and well served, regardless whether the performer is human or not. In this paper, we first discuss the robot etiquette which makes human feel comfortable and friendly when there is an interaction between human and robot. Then a path planning algorithm for an etiquette sensitive robot that guides humans to their destinations in home environment is presented. A set of etiquette rules is implemented based on a real humanoid robot, IDRO which has dual arms movable with three wheels.