title: How do walkers avoid a mobile robot crossing their way?
abstract: Robots and Humans have to share the same environment more and more often. In the aim of steering robots in a safe and convenient manner among humans it is required to understand how humans interact with them. This work focuses on collision avoidance between a human and a robot during locomotion. Having in mind previous results on human obstacle avoidance, as well as the description of the main principles which guide collision avoidance strategies, we observe how humans adapt a goal-directed locomotion task when they have to interfere with a mobile robot. Our results show differences in the strategy set by humans to avoid a robot in comparison with avoiding another human. Humans prefer to give the way to the robot even when they are likely to pass first at the beginning of the interaction.
authors.affiliation: CNRS, LAAS, 7 Avenue du colonel Roche, F-31400 Toulouse, France; Univ de Toulouse, LAAS, F-31400 Toulouse, France. Electronic address: cvassall@laas.fr.
authors.forename: Christian
authors.initials: C
authors.lastname: Vassallo
authors.affiliation: M2S lab (Mouvement Sport Santé), University Rennes 2 - ENS Rennes - UEB, Avenue Robert Schuman, Campus de Ker Lann, 35170 Bruz, France. Electronic address: anne-helene.olivier@univ-rennes2.fr.
authors.forename: Anne-Hélène
authors.initials: AH
authors.lastname: Olivier
authors.affiliation: CNRS, LAAS, 7 Avenue du colonel Roche, F-31400 Toulouse, France; Univ de Toulouse, LAAS, F-31400 Toulouse, France. Electronic address: soueres@laas.fr.
authors.forename: Philippe
authors.initials: P
authors.lastname: Souères
authors.affiliation: M2S lab (Mouvement Sport Santé), University Rennes 2 - ENS Rennes - UEB, Avenue Robert Schuman, Campus de Ker Lann, 35170 Bruz, France. Electronic address: armel.cretual@univ-rennes2.fr.
authors.forename: Armel
authors.initials: A
authors.lastname: Crétual
authors.affiliation: CNRS, LAAS, 7 Avenue du colonel Roche, F-31400 Toulouse, France; Univ de Toulouse, LAAS, F-31400 Toulouse, France. Electronic address: ostasse@laas.fr.
authors.forename: Olivier
authors.initials: O
authors.lastname: Stasse
authors.affiliation: Inria Rennes, Centre de Rennes Bretagne Atlantique, Campus universitaire de Beaulieu, 35042 Rennes, France. Electronic address: julien.pettre@inria.fr.
authors.forename: Julien
authors.initials: J
authors.lastname: Pettré
mesh_terms: D000059:Accidents; D000222:Adaptation, Physiological; D000328:Adult; D005260:Female; D006801:Humans; D008124:Locomotion; D008297:Male; D012371:Robotics / Q000379:methods*; D014853:Walkers
keywords: Collision avoidance; Gait adaptation; Human-robot interaction; Locomotion; Mobile robot