Development of hand-up response motion model in with and without voice greeting environment

Greeting interaction with physical contacts, such as the handshake motions of robots has been discussed in previous papers. In these papers, researchers have discussed the robot's response to human's handshake request in with and without voice greeting environments. Based on a study result, during handshake greeting between human and robot, starting the voice greeting before the hand motion shows favorable feedback from humans [1]. On the other hand, greeting interaction without physical contact, such as the hand-up motions of robots has not been discussed. Therefore, in this paper, a hand-up response motion model was proposed for generation of hand-up greeting with human in with and without voice greeting environments. Initially, mutual hand-up greetings between human in with and without voice greeting environments are analyzed. Based on the differences in motion characteristics of humans during mutual hand-up greeting in both environments, a hand-up response motion model in which a robot responds to human's request for a hand-up greeting is proposed. Using the developed hand-up robot motion system, the effectiveness of the motion model is demonstrated through sensory evaluation experiments. Subsequently, the differences of the motion characteristics of the robot's response to hand-up greeting interactions in the case of hand-up greeting with voice greeting and without voice greeting preferred by humans are discussed.