ArticleFrontiers in robotics and AI2022
The effect of robot speed on comfortable passing distances.
Article in Frontiers in robotics and AI, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 6 papers.
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6 citing papers in PubMed.
- Assessing pedestrian responses to autonomous and personal mobility robots in crowded public spaces.Science advances · 2026Article
- Advancing a taxonomy of proxemics for socially aware robot navigation.Frontiers in robotics and AI · 2026Article
- The implications of robot navigation in social space: perceptual effects of socially aware and baseline navigation.Frontiers in robotics and AI · 2026Article
- Behavior of a Person-Following Robot in Pedestrian Environments: Laboratory Experimentation and Simulation.Transportation research record · 2025Article
- Transformer-based human-motion forecasting coupled with safe reinforcement learning for telepresence robot co-navigation.Frontiers in neurorobotics · 2025Article
- Bridging Requirements, Planning, and Evaluation: A Review of Social Robot Navigation.Sensors (Basel, Switzerland) · 2024Article
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Authors and funding
4 authors.
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Abstract
Robots navigate ever more often in close proximity to people. In the current work, we focused on two distinctive navigational scenarios: passing and overtaking a person who is walking. In the first experiment, we compared nine different passing distances for a humanoid robot and found that human comfort increased with passing distance and that their relationship could be described by an inverted Gaussian. In the second experiment, we validated this relationship for an industrial autonomous robot and extended the study to also include overtaking distances and different robot moving speeds. The results showed that overtaking was considered to be less comfortable than passing but that the overtaking distance had a similar relationship with human comfort. Human comfort decreases with a higher robot movement speed. Results obtained through location trackers furthermore showed that people actively take a larger distance from the robot when it starts its trajectory closer to them. The current results can be used to quantify human comfort in environments where humans and robots co-exist and they can be used as input for human-aware navigational models for autonomous robots.
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