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Measuring Smoothness as a Factor for Efficient and Socially Accepted Robot Motion

Social robots, designed to interact and assist people in social daily life scenarios, require adequate path planning algorithms to navigate autonomously through these environments. These algorithms have not only to find feasible paths but also to consider other requirements, such as optimizing energ...

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Autores principales: Guillén Ruiz, Silvia, Calderita, Luis V., Hidalgo-Paniagua, Alejandro, Bandera Rubio, Juan P.
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2020
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7730802/
https://www.ncbi.nlm.nih.gov/pubmed/33260323
http://dx.doi.org/10.3390/s20236822
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author Guillén Ruiz, Silvia
Calderita, Luis V.
Hidalgo-Paniagua, Alejandro
Bandera Rubio, Juan P.
author_facet Guillén Ruiz, Silvia
Calderita, Luis V.
Hidalgo-Paniagua, Alejandro
Bandera Rubio, Juan P.
author_sort Guillén Ruiz, Silvia
collection PubMed
description Social robots, designed to interact and assist people in social daily life scenarios, require adequate path planning algorithms to navigate autonomously through these environments. These algorithms have not only to find feasible paths but also to consider other requirements, such as optimizing energy consumption or making the robot behave in a socially accepted way. Path planning can be tuned according to a set of factors, being the most common path length, safety, and smoothness. This last factor may have a strong relation with energy consumption and social acceptability of produced motion, but this possible relation has never been deeply studied. The current paper focuses on performing a double analysis through two experiments. One of them analyzes energy consumption in a real robot for trajectories that use different smoothness factors. The other analyzes social acceptance for different smoothness factors by presenting different simulated situations to different people and collecting their impressions. The results of these experiments show that, in general terms, smoother paths decrease energy consumption and increase acceptability, as far as other key factors, such as distance to people, are fulfilled.
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spelling pubmed-77308022020-12-12 Measuring Smoothness as a Factor for Efficient and Socially Accepted Robot Motion Guillén Ruiz, Silvia Calderita, Luis V. Hidalgo-Paniagua, Alejandro Bandera Rubio, Juan P. Sensors (Basel) Article Social robots, designed to interact and assist people in social daily life scenarios, require adequate path planning algorithms to navigate autonomously through these environments. These algorithms have not only to find feasible paths but also to consider other requirements, such as optimizing energy consumption or making the robot behave in a socially accepted way. Path planning can be tuned according to a set of factors, being the most common path length, safety, and smoothness. This last factor may have a strong relation with energy consumption and social acceptability of produced motion, but this possible relation has never been deeply studied. The current paper focuses on performing a double analysis through two experiments. One of them analyzes energy consumption in a real robot for trajectories that use different smoothness factors. The other analyzes social acceptance for different smoothness factors by presenting different simulated situations to different people and collecting their impressions. The results of these experiments show that, in general terms, smoother paths decrease energy consumption and increase acceptability, as far as other key factors, such as distance to people, are fulfilled. MDPI 2020-11-29 /pmc/articles/PMC7730802/ /pubmed/33260323 http://dx.doi.org/10.3390/s20236822 Text en © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Guillén Ruiz, Silvia
Calderita, Luis V.
Hidalgo-Paniagua, Alejandro
Bandera Rubio, Juan P.
Measuring Smoothness as a Factor for Efficient and Socially Accepted Robot Motion
title Measuring Smoothness as a Factor for Efficient and Socially Accepted Robot Motion
title_full Measuring Smoothness as a Factor for Efficient and Socially Accepted Robot Motion
title_fullStr Measuring Smoothness as a Factor for Efficient and Socially Accepted Robot Motion
title_full_unstemmed Measuring Smoothness as a Factor for Efficient and Socially Accepted Robot Motion
title_short Measuring Smoothness as a Factor for Efficient and Socially Accepted Robot Motion
title_sort measuring smoothness as a factor for efficient and socially accepted robot motion
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7730802/
https://www.ncbi.nlm.nih.gov/pubmed/33260323
http://dx.doi.org/10.3390/s20236822
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