How Should a Robot Approach Two People?

Abstract

Experiments were conducted to quantify the direction of robot approach that a pair of seated people find most comfortable. Three maximally-different seating configurations and eight directions of robot approach were considered. The data were analysed using Rayleigh's test of uniformity, a directional statistics method. Results from 140 participants showed robot approach directions that minimise participant discomfort align spatially with regions that allow good sight of the robot by both people and are centred on the pair's largest unoccupied area of p-space.