Design of a hesitant movement gesture for mobile robots.

In previous experiments, a back-off movement was introduced as a motion strategy of robots to facilitate the order of passage at bottlenecks in human-robot spatial interaction. In this article we take a closer look at the appropriate application of motion parameters that make the backward movement l...

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Autores principales:	Jakob Reinhardt, Klaus Bengler
Formato:	article
Lenguaje:	EN
Publicado:	Public Library of Science (PLoS) 2021
Materias:	Medicine R Science Q
Acceso en línea:	https://doaj.org/article/261a0aca64a144deb00923915bd02285
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id	oai:doaj.org-article:261a0aca64a144deb00923915bd02285
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spelling	oai:doaj.org-article:261a0aca64a144deb00923915bd022852021-11-25T06:19:25ZDesign of a hesitant movement gesture for mobile robots.1932-620310.1371/journal.pone.0249081https://doaj.org/article/261a0aca64a144deb00923915bd022852021-01-01T00:00:00Zhttps://doi.org/10.1371/journal.pone.0249081https://doaj.org/toc/1932-6203In previous experiments, a back-off movement was introduced as a motion strategy of robots to facilitate the order of passage at bottlenecks in human-robot spatial interaction. In this article we take a closer look at the appropriate application of motion parameters that make the backward movement legible. Related works in distance perception, size-speed illusions, and viewpoint-based legibility considerations suggest a relationship between the size of the robot and the observer's perspective on the expected execution of this movement. We performed a participant experiment (N = 50) in a virtual reality environment where participants adjusted the minimum required back-off length and preferred back-off speed as a result of the robot size, and the viewpoint of the back-off movement. We target a model-based approach on how appropriate back-off design translates to different sized robots and observer's viewpoints. Thus, we allow the application of back-off in a variety of autonomous moving systems. The results show a significant correlation between the increasingly expected back-off lengths with increasing robot size, but only weak effects of the viewpoint on the requirements of this movement. An exploratory analysis suggests that execution time might be a promising parameter to consider for the design of legible motion.Jakob ReinhardtKlaus BenglerPublic Library of Science (PLoS)articleMedicineRScienceQENPLoS ONE, Vol 16, Iss 3, p e0249081 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Medicine R Science Q
spellingShingle	Medicine R Science Q Jakob Reinhardt Klaus Bengler Design of a hesitant movement gesture for mobile robots.
description	In previous experiments, a back-off movement was introduced as a motion strategy of robots to facilitate the order of passage at bottlenecks in human-robot spatial interaction. In this article we take a closer look at the appropriate application of motion parameters that make the backward movement legible. Related works in distance perception, size-speed illusions, and viewpoint-based legibility considerations suggest a relationship between the size of the robot and the observer's perspective on the expected execution of this movement. We performed a participant experiment (N = 50) in a virtual reality environment where participants adjusted the minimum required back-off length and preferred back-off speed as a result of the robot size, and the viewpoint of the back-off movement. We target a model-based approach on how appropriate back-off design translates to different sized robots and observer's viewpoints. Thus, we allow the application of back-off in a variety of autonomous moving systems. The results show a significant correlation between the increasingly expected back-off lengths with increasing robot size, but only weak effects of the viewpoint on the requirements of this movement. An exploratory analysis suggests that execution time might be a promising parameter to consider for the design of legible motion.
format	article
author	Jakob Reinhardt Klaus Bengler
author_facet	Jakob Reinhardt Klaus Bengler
author_sort	Jakob Reinhardt
title	Design of a hesitant movement gesture for mobile robots.
title_short	Design of a hesitant movement gesture for mobile robots.
title_full	Design of a hesitant movement gesture for mobile robots.
title_fullStr	Design of a hesitant movement gesture for mobile robots.
title_full_unstemmed	Design of a hesitant movement gesture for mobile robots.
title_sort	design of a hesitant movement gesture for mobile robots.
publisher	Public Library of Science (PLoS)
publishDate	2021
url	https://doaj.org/article/261a0aca64a144deb00923915bd02285
work_keys_str_mv	AT jakobreinhardt designofahesitantmovementgestureformobilerobots AT klausbengler designofahesitantmovementgestureformobilerobots
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Design of a hesitant movement gesture for mobile robots.

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