IROS 2007: Spatial Reasoning for Human Robot Interaction

Emrah Akin Sisbot, Luis F. Marin and Rachid Alami

Abstract
Robots’ interaction with humans raises new issuesfor geometrical reasoning where the humans must be taken explicitly into account. We claim that a human-aware motion system must not only elaborate safe robot motions, but also synthesize good, socially acceptable and legible movement.
This paper focuses on a manipulation planner and a placement mechanism that take explicitly into account its human partners by reasoning about their accessibility, their vision field and their preferences. This planner is part of a human-aware motion and manipulation planning and control system that we aim to develop in order to achieve motion and manipulation tasks in presence or in synergy with humans.