人間同士のすれ違い行動における動作特性および回避行動アルゴリズム : 屋外と屋内での基本実験結果

概要

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In order to detect human characteristics of avoidance motion and construct avoidance motion algorithm, we conducted two experiments. In these experiments, passing behavior was employed as avoidance motion. In the first experiment, we recorded human passing behaviors using VTR on the road under natural settings. The analysis of the VTR recordings revealed that human avoidance motions in passing were categorized as three types. In the second experiment, we conducted human passing experiments in the laboratory. Subjects passed an experimenter who is stood, walked, and ran with short steps. The results of these experiments indicated that human avoidance motion has mainly following two characteristics: (1)the locus agrees well with the catenary, and (2)the walking velocity is costant in passing. The avoidance motion algorithm was constructed based on these characteristics. We will apply these characteristics and the algorithm in the field of mechatronics and robotics, especially to the avoidance motion of a mobile robot.
社団法人日本機械学会の論文
1998-03-25