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This paper presents the combined results of two studies that investigated how a robot should best approach and place itself relative to a seated human subject. Two live Human Robot Interaction (HRI) trials were performed involving a robot fetching an object that the human had requested, using different approach directions. Results of the trials indicated(More)
—Robot navigation in the presence of humans raises new issues for motion planning and control when the humans must be taken explicitly into account. We claim that a human aware motion planner (HAMP) must not only provide safe robot paths, but also synthesize good, socially acceptable and legible paths. This paper focuses on a motion planner that takes(More)
With robotics hardware becoming more and more safe and compliant, robots are not far from entering our homes. The robot, that will share the same environment with humans, will be expected to consider the geometry of the interaction and to perform intelligent space sharing. In this case, even the simplest tasks, e.g. handing over an object to a person, raise(More)
Human Robot collaborative task achievement requires adapted tools and algorithms for both decision making and motion computation. The human presence as well as its behavior must be considered and actively monitored at the decisional level for the robot to produce synchronized and adapted behavior. Additionally, having a human within the robot range of(More)
— Robot navigation in the presence of humans raises new issues for motion planning and control since the humans safety and comfort must be taken explicitly into account. We claim that a human-aware motion planner must not only elaborate safe robot paths, but also plan good, socially acceptable and legible paths. Our aim is to build a planner that takes(More)
This paper presents the results from a Human-Robot Interaction study that investigates the issues of participants' preferences in terms of the robot approach direction (direction RAD), robot base approach interaction distance (distance RBAID), robot handing over hand distance (distance RHOHD), robot handing over arm gesture (gesture RHOAG), and the(More)
Human-robot interaction requires explicit reasoning on human environment and on robot capacities to achieve its tasks in a collaborative way with a human partner. We have devised a decisional framework for human-robot interactive task achievement that is aimed to allow the robot not only to accomplish its tasks but also to produce behaviors that support its(More)
— Robots' interaction with humans raises new issues for geometrical reasoning where the humans must be taken explicitly into account. We claim that a human-aware motion system must not only elaborate safe robot motions, but also synthesize good, socially acceptable and legible movement. This paper focuses on a manipulation planner and a placement mechanism(More)