Legibility of robot approach trajectories with minimum jerk path planning

Raymond H. Cuijpers; Peter A.M. Ruijten; V.J.P. van den Goor

doi:10.1007/978-3-030-62056-1_33

Legibility of robot approach trajectories with minimum jerk path planning

Raymond H. Cuijpers, Peter A.M. Ruijten, V.J.P. van den Goor

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

2 Citations (Scopus)

Abstract

When a robot approaches a person, the chosen trajectory ideally informs the person not only about the robot’s intended target location, but also its intended orientation. However, planning a straight line to the goal location does not guarantee a correct final orientation, potentially causing confusion as the robot eventually rotates towards its unsuspecting target. One method that could remedy this problem is minimum jerk path planning, which results in the smoothest possible path that ends in the pre-specified final orientation. The technique is already widely used in robotic arm motion planning, but existing work is lacking for regular path planning. The aim of the current study is to implement minimum jerk path planning for the Nao robot and to evaluate the potential benefit for human observers to infer the intended target of the robot. Results show that minimum jerk path planning significantly improves people’s recognition of the robot’s destination compared to straight line path planning. Meanwhile, the perceived likeability and human likeness of the robot remain the same, suggesting that implementing smooth robot path planning that includes the final orientation leads to more predictable robot approaching behaviour.

Keywords
Human-aware navigation Path planning Robot intention Human-robot interaction

Original language	English
Title of host publication	Social Robotics
Subtitle of host publication	Proceedings of the 12th International Conference, ICSR 2020, Golden, CO, USA, November 14–18, 2020
Editors	Alan R. Wagner, David Feil-Seifer, Kerstin S. Haring, Silvia Rossi, Thomas Williams, Hongsheng He, Shuzhi Sam Ge
Publisher	Springer
Pages	392-403
Number of pages	12
ISBN (Print)	9783030620554
DOIs	https://doi.org/10.1007/978-3-030-62056-1_33
Publication status	Published - Nov 2020
Event	12th International Conference on Social Robotics, ICSR 2020 - Golden, United States Duration: 14 Nov 2020 → 18 Nov 2020 Conference number: 12

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	12483 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	12th International Conference on Social Robotics, ICSR 2020
Abbreviated title	ICSR 2020
Country/Territory	United States
City	Golden
Period	14/11/20 → 18/11/20

Keywords

Human-aware navigation
Human-robot interaction
Path planning
Robot intention

Access to Document

10.1007/978-3-030-62056-1_33

Cite this

Cuijpers, R. H., Ruijten, P. A. M., & van den Goor, V. J. P. (2020). Legibility of robot approach trajectories with minimum jerk path planning. In A. R. Wagner, D. Feil-Seifer, K. S. Haring, S. Rossi, T. Williams, H. He, & S. Sam Ge (Eds.), Social Robotics: Proceedings of the 12th International Conference, ICSR 2020, Golden, CO, USA, November 14–18, 2020 (pp. 392-403). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 12483 LNAI). Springer. https://doi.org/10.1007/978-3-030-62056-1_33

Cuijpers, Raymond H. ; Ruijten, Peter A.M. ; van den Goor, V.J.P. / Legibility of robot approach trajectories with minimum jerk path planning. Social Robotics: Proceedings of the 12th International Conference, ICSR 2020, Golden, CO, USA, November 14–18, 2020. editor / Alan R. Wagner ; David Feil-Seifer ; Kerstin S. Haring ; Silvia Rossi ; Thomas Williams ; Hongsheng He ; Shuzhi Sam Ge. Springer, 2020. pp. 392-403 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

@inproceedings{392d3faa1a464fa49bfd271255b6cdd0,

title = "Legibility of robot approach trajectories with minimum jerk path planning",

abstract = "When a robot approaches a person, the chosen trajectory ideally informs the person not only about the robot{\textquoteright}s intended target location, but also its intended orientation. However, planning a straight line to the goal location does not guarantee a correct final orientation, potentially causing confusion as the robot eventually rotates towards its unsuspecting target. One method that could remedy this problem is minimum jerk path planning, which results in the smoothest possible path that ends in the pre-specified final orientation. The technique is already widely used in robotic arm motion planning, but existing work is lacking for regular path planning. The aim of the current study is to implement minimum jerk path planning for the Nao robot and to evaluate the potential benefit for human observers to infer the intended target of the robot. Results show that minimum jerk path planning significantly improves people{\textquoteright}s recognition of the robot{\textquoteright}s destination compared to straight line path planning. Meanwhile, the perceived likeability and human likeness of the robot remain the same, suggesting that implementing smooth robot path planning that includes the final orientation leads to more predictable robot approaching behaviour.KeywordsHuman-aware navigation Path planning Robot intention Human-robot interaction ",

keywords = "Human-aware navigation, Human-robot interaction, Path planning, Robot intention",

author = "Cuijpers, {Raymond H.} and Ruijten, {Peter A.M.} and {van den Goor}, V.J.P.",

year = "2020",

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isbn = "9783030620554",

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Cuijpers, RH , Ruijten, PAM & van den Goor, VJP 2020, Legibility of robot approach trajectories with minimum jerk path planning. in AR Wagner, D Feil-Seifer, KS Haring, S Rossi, T Williams, H He & S Sam Ge (eds), Social Robotics: Proceedings of the 12th International Conference, ICSR 2020, Golden, CO, USA, November 14–18, 2020. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 12483 LNAI, Springer, pp. 392-403, 12th International Conference on Social Robotics, ICSR 2020, Golden, Colorado, United States, 14/11/20. https://doi.org/10.1007/978-3-030-62056-1_33

Legibility of robot approach trajectories with minimum jerk path planning. / Cuijpers, Raymond H.; Ruijten, Peter A.M.; van den Goor, V.J.P.
Social Robotics: Proceedings of the 12th International Conference, ICSR 2020, Golden, CO, USA, November 14–18, 2020. ed. / Alan R. Wagner; David Feil-Seifer; Kerstin S. Haring; Silvia Rossi; Thomas Williams; Hongsheng He; Shuzhi Sam Ge. Springer, 2020. p. 392-403 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 12483 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Legibility of robot approach trajectories with minimum jerk path planning

AU - Cuijpers, Raymond H.

AU - Ruijten, Peter A.M.

AU - van den Goor, V.J.P.

N1 - Conference code: 12

PY - 2020/11

Y1 - 2020/11

N2 - When a robot approaches a person, the chosen trajectory ideally informs the person not only about the robot’s intended target location, but also its intended orientation. However, planning a straight line to the goal location does not guarantee a correct final orientation, potentially causing confusion as the robot eventually rotates towards its unsuspecting target. One method that could remedy this problem is minimum jerk path planning, which results in the smoothest possible path that ends in the pre-specified final orientation. The technique is already widely used in robotic arm motion planning, but existing work is lacking for regular path planning. The aim of the current study is to implement minimum jerk path planning for the Nao robot and to evaluate the potential benefit for human observers to infer the intended target of the robot. Results show that minimum jerk path planning significantly improves people’s recognition of the robot’s destination compared to straight line path planning. Meanwhile, the perceived likeability and human likeness of the robot remain the same, suggesting that implementing smooth robot path planning that includes the final orientation leads to more predictable robot approaching behaviour.KeywordsHuman-aware navigation Path planning Robot intention Human-robot interaction

AB - When a robot approaches a person, the chosen trajectory ideally informs the person not only about the robot’s intended target location, but also its intended orientation. However, planning a straight line to the goal location does not guarantee a correct final orientation, potentially causing confusion as the robot eventually rotates towards its unsuspecting target. One method that could remedy this problem is minimum jerk path planning, which results in the smoothest possible path that ends in the pre-specified final orientation. The technique is already widely used in robotic arm motion planning, but existing work is lacking for regular path planning. The aim of the current study is to implement minimum jerk path planning for the Nao robot and to evaluate the potential benefit for human observers to infer the intended target of the robot. Results show that minimum jerk path planning significantly improves people’s recognition of the robot’s destination compared to straight line path planning. Meanwhile, the perceived likeability and human likeness of the robot remain the same, suggesting that implementing smooth robot path planning that includes the final orientation leads to more predictable robot approaching behaviour.KeywordsHuman-aware navigation Path planning Robot intention Human-robot interaction

KW - Human-aware navigation

KW - Human-robot interaction

KW - Path planning

KW - Robot intention

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DO - 10.1007/978-3-030-62056-1_33

M3 - Conference contribution

SN - 9783030620554

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 392

EP - 403

BT - Social Robotics

A2 - Wagner, Alan R.

A2 - Feil-Seifer, David

A2 - Haring, Kerstin S.

A2 - Rossi, Silvia

A2 - Williams, Thomas

A2 - He, Hongsheng

A2 - Sam Ge, Shuzhi

PB - Springer

T2 - 12th International Conference on Social Robotics, ICSR 2020

Y2 - 14 November 2020 through 18 November 2020

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Cuijpers RH , Ruijten PAM, van den Goor VJP. Legibility of robot approach trajectories with minimum jerk path planning. In Wagner AR, Feil-Seifer D, Haring KS, Rossi S, Williams T, He H, Sam Ge S, editors, Social Robotics: Proceedings of the 12th International Conference, ICSR 2020, Golden, CO, USA, November 14–18, 2020. Springer. 2020. p. 392-403. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-030-62056-1_33

Legibility of robot approach trajectories with minimum jerk path planning

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