提出三维个人空间模型，让机器人更懂人的上下左右舒适边界。
Beyond the Plane: A 3D Representation of Human Personal Space for Socially-Aware Robotics
- 构建包含高度的3D个人空间模型，量化人与机器人在上下方向的不适感。
- 首次实现对机器人任意部件在3D空间中的不适程度计算。
- 适合开发具社会意识的家用或服务型机器人。
随着机器人越来越多地出现在人类环境中，它们必须表现出符合社交规范的行为。其中关键因素是个人空间——个体周围的心理边界，其舒适度受距离影响。这一概念同样适用于人机交互，机器人需尊重个人空间以避免造成不适。尽管已有大量研究关注二维层面的个人空间建模，但几乎未涉及垂直维度。本文提出一种新的三维个人空间模型，结合高度（引入Z轴上的不适函数）和水平距离（采用经典XY平面公式），以量化不适感。据我们所知，这是首个能计算任意机器人部件在3D空间中因人体姿态与身高带来的不适程度的工作。
原文摘要 · Abstract (English)
The increasing presence of robots in human environments requires them to exhibit socially appropriate behavior, adhering to social norms. A critical aspect in this context is the concept of personal space, a psychological boundary around an individual that influences their comfort based on proximity. This concept extends to human-robot interaction, where robots must respect personal space to avoid causing discomfort. While much research has focused on modeling personal space in two dimensions, almost none have considered the vertical dimension. In this work, we propose a novel three-dimensional personal space model that integrates both height (introducing a discomfort function along the Z-axis) and horizontal proximity (via a classic XY-plane formulation) to quantify discomfort. To the best of our knowledge, this is the first work to compute discomfort in 3D space at any robot component's position, considering the person's configuration and height.
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