著者

友永 聖樹 太田 俊介 神代 充 笹木 亮 池本 有助

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2014 (ISSN:24243124)

巻号頁・発行日

pp._2A1-G05_1-_2A1-G05_2, 2014-05-24 (Released:2017-06-19)

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Robots are expected to play an important role in social welfare and service for older citizens. These robots are required to generate embodied interactions for greetings in order to be able to smoothly coexist and cooperate with humans. A hug motion is one of the important embodied interactions. Therefore, in this study, we develop a hug motion generation model based on analyses of human hug motions. In this model, a hug motion of a robot is generated by using a bell-shaped and a wave-shaped velocity pattern in which accelerations and velocities have smooth changes. As a result, this model can generate a hug motion similar to motions of humans.