Human-Robot Interaction: Legible behavior rules in passing and crossing events

In human-robot interaction, the incorporation of social rules results to be crucial to guarantee the comfort of the human. It must be obtained by means of improving the legibility of the robot motions, because developing soft and smooth motion does not guarantee entirely a social acceptable motion. Hence, in this paper a novel fuzzy logic approach is proposed to incorporate social rules in walking events, where the relative positions, orientations, distances and velocities between the robots and the humans are considered. Additionally to verify its performance, its incorporation in a path-following control through social forces is proposed. The simulation results demonstrate that the system is able to overcome many usual interferer situations, and to adapt its behavior to different interference events over time.