让机器人像人一样拒绝靠近，根据距离自动退避或推拒。
Preliminary Prototyping of Avoidance Behaviors Triggered by a User's Physical Approach to a Robot
- 用距离决定不适感累积与消退，模拟人际回避心理。
- 设定容忍阈值后，超过即触发退缩或推离动作。
- 适合研究人机互动中安全距离与行为反应的学者。
人机交互常涉及物理接近或接触。在人际互动中，人们会根据关系和情境灵活接受、拒绝或容忍接近。本文探索机器人在遭遇人体接近时，通过内部拒绝状态与相应回避行为（如后退或推开）的建模设计。基于人际距离建模不适感的累积与衰减，并以PAD情感模型中的支配性（Dominance）轴驱动容忍度（耐受性）与越限回避行为。这些行为及其强度在机械臂机器人上实现。结果表明，从内部状态参数到渐进耐受动作，再到越限后的回避反应，形成连贯的行为流程。
原文摘要 · Abstract (English)
Human-robot interaction frequently involves physical proximity or contact. In human-human settings, people flexibly accept, reject, or tolerate such approaches depending on the relationship and context. We explore the design of a robot's rejective internal state and corresponding avoidance behaviors, such as withdrawing or pushing away, when a person approaches. We model the accumulation and decay of discomfort as a function of interpersonal distance, and implement tolerance (endurance) and limit-exceeding avoidance driven by the Dominance axis of the PAD affect model. The behaviors and their intensities are realized on an arm robot. Results illustrate a coherent pipeline from internal state parameters to graded endurance motions and, once a limit is crossed, to avoidance actions.
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