Modeling Intuitive behavior for safe human/robot coexistence cooperation

An intuitive behavior model for safe human/robot coexistence and cooperation is presented. For this purpose, we classify the robot behavior into four cooperation states, which are characterized by two criteria: motion context and interaction context. The motion context can be gross or fine and the interaction context can be free or guided. We describe basic principles relevant to modeling safe and intuitive behavior for robots. The desired robot behavior is detailed for each of the four states along with the necessary transitions between those states