2. Kansei Analysis for Ubiquitous Robots Interacting with People in Dynamic Environments

3. Contents Introduction Introduction Human Behavior Human Behavior Personal Space Personal Space New system New system Future aspects Future aspects Construction Construction Summary Summary

4. Introduction Mobile robots, Autonomous robots, Android robots Humanoid Robots (Human LIKE robot???) Features: Interaction with Humans Imitate human actions

5. Requirements Human like appearance Human like behavior Human like feelings

6. Moving Around People Moving around Interactions with humans Form in queues

7. Queuing Forming a line of people

8. What to Consider

9. Dos and Don`ts

10. Line Modeling

11. Perfect Line Appropriate Spacing

12. Nakauchi Model Nakauchi Model of a Human

13. Personal Space Nakauchi Model of personal space when people are forming a line

14. Forming Line Nakauchi Model of line of people

15. Simplified Version Average distances with reference to generalized circular diameter of a human

16. Generalization Considered as a percentage of 177.8% in front, 44.4% behind and 66.7% in sides as the following proportion yields. (a_dist. / g.c.d.) X 100%

17. Application

18. Other Factors Shape Size Colour Sound Ohh!

19. Relationships Size and Distance –Distance = K 1 + K 2 Size Shape and Distance –Distance = K 3 + K 4 Shape

20. Moving Around Safe distance (sd) and Personal distance (pd) (personal space)

21. Show Feelings Eyes and Mouth Happy Unhappy

22. Experimental Setup

23. Measure for Personal Space

24. Indication of Feelings FaceFine HappySad

25. Fuzzy System Fuzzy inference system Fuzzy inference system Distance Rate of change Feeling

26. One Output 1 2 3 4 5 6 7 011 0 1 Distance = 0.372 Rate of Change = 0.136 Feeling = 0.454

27. Some Considerations Making voice messages Object identification and response Shuu... Wow

28. Human interaction Recognition of –Voice –Gesture HumanRobot

29. Summary Social rules Human feelings identification –Personal space Show some feelings –Eye colour –Mouth shape More analysis into personal space –Shape –Colour Using voice Identify gestures More friendly human interaction In the future: