Hug Behavior Request Model with Approaching Human for Hug Robots

  • Mitsuru JindaiEmail author
  • Shunsuke Ota
  • Toshiyuki Yasuda
  • Tohru Sasaki
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11876)


Hug behavior can promote synchronization of embodied rhythms effectively as it is one of the types of embodied interactions wherein humans contact whole-body with each other. In the case of a human and a robot, it is likely that a robot effectively synchronizes an embodied rhythm with a human using hug behavior. Therefore, in this paper, a hug behavior request model with an approaching human is proposed for hug robots. Furthermore, a hug robot system that employs the proposed model is developed. In this model, the robot requests hug behavior when a human approaches it, and generates hug behavior with humans. Using the developed robot system, a preferred timing which begins with the hand motion of the robot is determined to request hug behavior by sensory evaluations.


Human-robot system Embodied interaction Hug behavior 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Mitsuru Jindai
    • 1
    Email author
  • Shunsuke Ota
    • 1
  • Toshiyuki Yasuda
    • 1
  • Tohru Sasaki
    • 1
  1. 1.University of ToyamaToyamaJapan

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