パーソナルスペース理論を用いたサイボーグハウス内照明ロボットの移動制御

概要

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Authors have been studying the Cyborg House,which is the remodeled adaptive house system to improve the space function by using robotics. This is the house added the function demanded by living people to the space environment,so that the recreation function,the safety and the convenience at rooms are improved. Our supposed users are retired senior man and wife. In this paper,we will take a lighting robot which is one of partner robots in the Cyborg House,and will propose the robot concept and the movement control method using the personal space theory in psychology. Simulation results showed that required robot tasks,for example following a moving human with obstacle avoidance,approaching to sitting persons,were realized appropriately using simple rules of the personal space theory.