Human inspired effort distribution during collision avoidance in human-robot motion

José Grimaldo da Silva Filho 1 Anne-Hélène Olivier 2, 3 Armel Crétual 2, 3 Julien Pettré 4 Thierry Fraichard 1
1 PERVASIVE - Interaction située avec les objets et environnements intelligents
Inria Grenoble - Rhône-Alpes, LIG - Laboratoire d'Informatique de Grenoble, Grenoble INP - Institut polytechnique de Grenoble - Grenoble Institute of Technology, UGA - Université Grenoble Alpes
2 MIMETIC - Analysis-Synthesis Approach for Virtual Human Simulation
UR2 - Université de Rennes 2, Inria Rennes – Bretagne Atlantique , IRISA-D6 - MEDIA ET INTERACTIONS
3 M2S - Laboratoire Mouvement Sport Santé
4 RAINBOW - Sensor-based and interactive robotics
Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : Recent works in the area of human robot motion showed that behaving in a human-like manner allows a robot to reduce global cognitive effort for people in the environment. Given that collision avoidance situations between people are solved cooperatively, this work models the manner in which this cooperation is done so that a robot can replicate their behavior. To that end, hundreds of situations where two walkers have crossing trajectories were analyzed. Based on these human trajectories involving a collision avoidance task, we determined how total effort is shared between each walker depending on several factors of the interaction such as crossing angle, time to collision and speed. To validate our approach, a proof of concept is integrated into ROS with Reciprocal Velocity Objects (RVO) in order to distribute collision avoidance effort in a human-like way.
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CNRS | ENS-CACHAN | UNIV-RENNES1 | PERSYVAL-LAB | CENTRALESUPELEC | UNIV-RENNES2 | UNIV-BREST | BIOSIT | UR2-HB | IRISA | INRIA | M2S | UNIV-RENNES | LIG | LIG_SIC_PERVASIVE | UGA | UNIV-PARIS-SACLAY | UR1-UFR-ISTIC | LIG_SIC

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José Grimaldo da Silva Filho, Anne-Hélène Olivier, Armel Crétual, Julien Pettré, Thierry Fraichard. Human inspired effort distribution during collision avoidance in human-robot motion. RO-MAN 2018 - 27th IEEE International Symposium on Robot and Human Interactive Communication, Aug 2018, Nanjing and Tai'an, China. pp.1111-1117, ⟨10.1109/ROMAN.2018.8525623⟩. ⟨hal-01831757⟩

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