In this paper, we focus on mobile robots' behavior that people around them feel comfortable. The subjective comfort of pedestrians is usually evaluated by a questionnaire, but the high cost of assessment makes it difficult to evaluate in various situations. Towards robot control based on objective measurements of pedestrians, this paper proposes an index to evaluate the ease of walking based on objective measurements of a pedestrian's trajectory. To verify the index, we introduce a mobile robot that (1) signals it has noticed a pedestrian in front of it by moving its head upward, then (2) signals the direction of future movement by turning its head. Then the robot's behavior was evaluated by subjective impressions and objective evaluation index. We examined the relationship between subjective impressions and the objective evaluation index. GRAPHICAL ABSTRACT

中文翻译：

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基于移动轨迹中速度矢量波动分析的使用面部方向向行人发出信号的机器人评估

在本文中，我们关注移动机器人让周围人感到舒适的行为。行人的主观舒适度通常通过问卷来评估，但评估成本高，难以在各种情况下进行评估。针对基于行人客观测量的机器人控制，本文提出了一种基于行人轨迹的客观测量来评估步行难易程度的指标。为了验证该指标，我们引入了一个移动机器人，它（1）通过向上移动头部来表示它已经注意到前面的行人，然后（2）通过转动头部来表示未来移动的方向。然后通过主观印象和客观评价指标对机器人的行为进行评价。我们检验了主观印象与客观评价指数之间的关系。图形概要