Optimal Waiting Position of a Home Robot for Risk Communication Considering Behavior Patterns of an Occupant

The risk communication in a home between a home robot and an occupant must be smooth in a way that the home robot does not disturb the occupant lives. In this paper, we propose a new method to determine the optimal waiting position considering the personal space and the obstacles such as furniture and the occupant’s walking patterns. It is shown that the distance to the wall from the occupant in the direction of the home robot and the standing or sitting posture affect most on the personal space. Furthermore, this personal space is dependent on each individual preference. The performance of the proposed method is much more feasible compared with those obtained in our previous approach.