An avoidance planning of robots using fuzzy control considering human emotions

For the coexistence of human and robots, the psychological safety of human beings must be considered in the robot´s movement for avoidance of unexpected human approaches. The robot´s avoidance movement must be reassuring and acceptable for humans and must not have rapid and abrupt changes, which frighten humans. In order to realize the robot´s avoidance motion taking human emotions into account, it is necessary to evaluate human emotions against the robot´s motions and convert them into a strategy of robot control. Fuzzy control based on fuzzy evaluation is one effective method. In the fuzzy evaluation, the results of subjective evaluation such as the rating scale method are directly converted to fuzzy control rules. The effectiveness of the proposed method is confirmed by experiments using an existing two-degrees of freedom robot