Spatially mapping of friendliness for human-robot interaction

Tsuyoshi Tasaki*, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Citations (Scopus)


It is important that robots interact with multiple people. However, most research has dealt with only interaction between one robot and one person and assumed that the distance between them does not change. This paper focuses on the spatial relationships between a robot and multiple people during interaction. Based on the distance between them, our robot selects appropriate functions to use. It does this using a method we developed for spatially mapping the "friendliness" of each space around the robot. The robot interacts with the highest friendliness spaces (people) selectively, thereby enabling interaction between the robot and multiple people. Our humanoid robot, SIG2 which the proposed method was implemented into, interacted with about 30 visitors, at the Kyoto University Museum. The results obtained using questionnaires after interaction showed that the actions of SIG2 were easy to understand even when it interacted with multiple people at the same time and that SIG2 behaved in a friendly manner.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PublisherIEEE Computer Society
Number of pages6
ISBN (Print)0780389123, 9780780389120
Publication statusPublished - 2005
Externally publishedYes

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS


  • Interaction partner
  • Mapping of friendliness
  • Multiple people

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering


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