Abstract
This paper proposes a novel tour guide robot, "ASAHI ReBorn", which can lead a guest by hand one-on-one while maintaining a proper distance from the guest. The robot uses a stretchable arm interface to hold the guest's hand and adjusts its speed according to the guest's pace. The robot also follows a given guide path accurately using the Robot Side method, a robot navigation method that follows a pre-defined path quickly and accurately. In addition, a control method is introduced that limits the angular velocity of the robot to avoid the robot's quick turn while guiding the guest. We evaluated the performance and usability of the proposed robot through experiments and user studies. The tour-guiding experiment revealed that the proposed method that keeps distance between the robot and the guest using the stretchable arm enables the guests to look around the exhibits compared with the condition where the robot moved at a constant velocity.
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