Robot Behavior Switching for Human-Aware Obstacle Interaction
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Solution Overview
Problem
Existing robot technologies do not effectively increase opportunities for communication between robots and users while avoiding obstacles, particularly when the obstacle is a human, as they prioritize avoidance over interaction.
Innovation Solution
A robot equipped with sensors and a processor that determines whether to perform interaction-increasing behaviors or obstacle-avoidance behaviors based on the type of obstacle detected, using a memory to store various behavior types and execute appropriate actions to maximize user interaction while navigating around obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot performs obstacle avoidance behavior, then collision with obstacles is prevented, but opportunities for communication with users are reduced
Solution Approach 1:
The robot applies different behavior qualities to different spatial zones: in safe zones away from obstacles, the robot performs communication behaviors; when approaching obstacle boundaries, avoidance behavior is activated. This local differentiation resolves the contradiction by allowing both communication and avoidance without mutual interference.
Solution Approach 2:
The robot dynamically switches between communication behavior and avoidance behavior based on real-time sensor feedback about obstacle proximity. The behavior mode is not fixed but adapts continuously to environmental conditions, enabling the robot to maximize communication opportunities while maintaining collision prevention.
2Productivity
If the robot performs interaction-increasing behaviors, then communication opportunities with users are increased, but collision risk with obstacles increases
Solution Approach 1:
The robot performs preliminary detection of obstacles using sensors before executing communication behaviors. By detecting obstacles in advance and establishing safe zones, the robot can confidently engage in interaction-increasing behaviors within those zones without risking collision, thus resolving the contradiction between communication and safety.
3Reliability
If the robot makes large avoidance movements, then collision with obstacles is prevented, but user anxiety and discomfort increase
Solution Approach 1:
The robot applies differentiated avoidance strategies based on user presence: when users are nearby, the robot makes minimal avoidance movements to reduce anxiety; when users are absent, the robot can perform more aggressive avoidance maneuvers. This local adaptation resolves the contradiction between effective avoidance and user comfort.
4Object-affected harmful factors
If the robot prioritizes obstacle avoidance, then safety is improved, but communication opportunities are lost
Solution Approach 1:
The robot dynamically adjusts its behavior priority based on real-time environmental assessment. When sensors detect clear paths without obstacles, the robot prioritizes communication behaviors; when obstacles are detected, avoidance priority increases temporarily. This dynamic prioritization resolves the contradiction by allowing both safety and communication to take precedence at different moments.
Data Source
AI summary
A processor determines, by referring to a memory, which of a plurality of behavior types a behavior type executed by a robot when a first sensor detects an obstacle is; determines a type of the obstacle detected by the first sensor; decides whether first behavior for increasing opportunities of interaction with the user or second behavior for handling the obstacle is performed, based on the behavior type executed by the robot when the first sensor detects the obstacle and the type of the obstacle detected by the first sensor; and controls the robot to cause the robot to execute the decided behavior.