Development of Motion Model for Generation of Embodied Interaction Between Human and Robot

In this research, we proposed motion models for embodied interactions to be generated by robot. We focused on contact based embodied interaction such as handshake and hug, as well as non-contact based embodied interaction such as hand-up greeting. Furthermore, by implementing the proposed motion models, a robot system was developed. Then, the differences of robot’s motion characteristics preferred by human with the presence/absence of voice greeting and the presence/absence of contact were evaluated through sensory evaluation experiments. Moreover, with the application of the handshake motion model, a handing-over motion which is preferred by human was developed.