Title :
Leader-follower coordinated control based on socially acceptable dynamics
Author :
Daniel Herrera;Julio Montesdeoca;Flavio Roberti;Marcos Toibero;Ricardo Carelli
Author_Institution :
Instituto de Autom?tica, Universidad Nacional de San Juan-CONICET, Av. Libertador Oeste 1109, San Juan-Argentina
Abstract :
A complete characterization of the behavior in human-robot interaction (HRI) includes both: the behavior dynamic and the control laws that characterize as the behavior is regulated with the perception information. In this way, the present work proposes a leader-follower coordinated control that allows to include special dynamic behaviors between humans. Additionally these have been supported by social rules of proxemics and dynamic models of human-behavior that guarantee more comfortable interactions. For the detection and following of the human, it is used a Kinect? sensor on board of a Pioneer 3AT? robot (a differential drive robot), which allows the experimental validation of the proposed scheme of control.
Keywords :
"Robot sensing systems","Robot kinematics","Surges","Three-dimensional displays","Electronic mail","Human-robot interaction"
Conference_Titel :
Information Processing and Control (RPIC), 2015 XVI Workshop on
DOI :
10.1109/RPIC.2015.7497155