Abstract
This paper investigates how the human feels the moving behavior of the omnidirectional mobile robot that follows the human while the robot swingingly moves around the human. To realize the swinging motion, the modified virtual impedance method is implemented on the controller for moving behavior of the robot. The psychological evaluations are examined for the impression of the moving behavior. In the evaluation, the SD (semantic differential) method and the RRV (R-R wave variance) method using the electrocardiogram (ECG) as biosignal are employed. It is revealed that the moving behavior makes a certain impression on human. Furthermore, it is confirmed that the RRV method is available in the real time evaluation.
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