Basic study on avoidance motions for human behaviors

The purpose of this study was propose the algorithm on the system including the mechanism to avoid a man. On basic study, this paper reports on the experiment of human avoidance motion, the experimental system for avoidance motions and experimental results. The human avoidance behavior occurs when passing each other. Many passings each of experimenter and subject have been recorded by VTR. Avoidance motions data are obtained through their loci by analyzing VTR. The experimental system for avoidance motions has three DC servo motors with encoders. One DC servo motor is used on human side. Two DC servo motors are used on robot side to realize X-Y axes avoidance. Personal computer controls all motors and realizes avoidance motion using human behavior data.