Año: 2016
Autores: Herrera, D.; Roberti, F.; Toibero, M.; Carelli, R.;
Resumen: A complete characterization of the behavior in human-robot interactions (HRI) include both: the behavioral dynamic and the control laws that characterizes the way as the behavior is regulated with the perception data. In this way, when a pedestrian follows another one, it uses a mental kinematic control that allows to keep a relative distance and orientation between them, however it is also limited by its non holonomic and dynamic nature. Therefore, this paper proposes a mechanism to indirectly identify a first-order dynamic model of the human-locomotion by using a kinematic leader-follower control as a linkage of velocity references. Thus, experimental human-human interaction data is used to identify and validate the proposed model. This model is expected to be used to predict or to emulate human dynamic behavior by improving the social acceptance of robots.
Link: http://ieeexplore.ieee.org/document/7585285/