K-TAVO: A robot behaviour management module to urge a human to avoid

Moe Sameshima, Kentaro Ishii, Ren Ohmura, Michita Imai

Research output: Contribution to conferencePaperpeer-review


In many companies and laboratories, a variety of robots have been developed. There are already some humanoid robots taking a practical role within our society. When robots move, it is necessary to consider the obstacle avoidance problem. Existing studies of obstacle avoidance, however, do not consider the case that results when humans stand in and occupy the robot's intended path, which make it impossible for the robot to pass. To make humans get out of the robot's way, we propose that a robot expresses its intention while performing obstacle avoidance by using utterances and gestures. We designed a module called K-tavo that triggers robot's utterance and gesture and urges humans to avoid the robot. The experiment showed that utterance can convey robots' intention to want humans to avoid. In addition, gestures can let humans understand more easily which side to avoid.

Original languageEnglish
Number of pages6
Publication statusPublished - 2008 Dec 1
Event39th International Symposium on Robotics, ISR 2008 - Seoul, Korea, Republic of
Duration: 2008 Oct 152008 Oct 17


Other39th International Symposium on Robotics, ISR 2008
Country/TerritoryKorea, Republic of

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Software


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