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arXiv · 2510.27436

Preliminary Prototyping of Avoidance Behaviors Triggered by a User's Physical Approach to a Robot

Tomoko Yonezawa·Hirotake Yamazoe·Atsuo Fujino·Daigo Suhara·Takaya Tamamoto·Yuto Nishiguchi
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Abstract

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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Tomoko Yonezawa, Hirotake Yamazoe, Atsuo Fujino, Daigo Suhara, Takaya Tamamoto, Yuto Nishiguchi. 2025-10-31. Preliminary Prototyping of Avoidance Behaviors Triggered by a User's Physical Approach to a Robot. https://arxiv.org/abs/2510.27436

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