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In this paper, we report a model that allows a robot to appropriately control its position as it presents information to a user. This capability is indispensable, since in the future, many robots will function in daily situations such as shopkeepers presenting products to customers or museum guides presenting information to visitors. Psychology research suggests that people adjust their positions to establish a joint view toward a target object. Similarly, when a robot presents an object, it should stand at an appropriate position that considers the positions of both the listener and the object to optimize the listener's field of view and establish a joint view. We observed human-human interaction situations, where people presented objects, and developed a model for an information-presenting robot to appropriately adjust its position. Our model consists of four constraints to establish O-space: 1) proximity to listener; 2) proximity to object; 3) listener's field of view; and 4) presenter's field of view. We also experimentally evaluate the effectiveness of our model.
Date of Publication: Feb. 2010