This paper explores the problem of embodied interaction between a service robot and a person in a hallway setting. For operation in environments with people that have limited experience with robots, a behaviour that signals awareness of the persons and safety of motion is essential. A control strategy based on human spatial behaviour studies is presented that adopts human-robot interaction patterns similar to those used in person-person encounters. The results of a pilot study with human subjects are presented in which the users have evaluated the acceptability of the robot behaviour patterns during passage with respect to three basic parameters: the robot speed, the signaling distance at which the robot starts the maneuver and the lateral distance from the person for safe passage. The study has shown a good overall user response and has provided some useful indications on how to design a hallway passage behaviour that could be most acceptable to human users.
['Elena Pacchierotti', 'Henrik I. Christensen', 'Patric Jensfelt']
Human-robot embodied interaction in hallway settings: a pilot user study