Design of personal mobility motion based on cooperative movement with a companion

Accompanying a person is one of the core capacities of a companion service robot and demands a smooth movement function with collision avoidance. In previous studies, on companion service robots, a robot moves in synchrony with a walking partner. However, in some cases, especially where potentially dangerous obstacles appear in the environment, a robot should lead its partner. A robot that leads its partner in appropriate environments should also enable smoother and more effective movement with the partner. This study aims to develop a motion design that realizes smooth cooperative movement with a human partner. Our proposed robot not only estimates its partner's intention and moves accordingly, but also reveals its own intention to the partner. To realize this objective, we investigate conditions that induce the partner's movement and propose a motion design that follows the partner's intended movement. Our method was installed in a prototype vehicle and evaluated in experiments, and was proved useful as a leading mechanism.