From: Approach function study for concierge-type robot by model-based development with user model for human-centred design
TAt
TD personal space x (mm)
TD slowdown x (mm)
D notify x (mm)
TD relative x at warned (mm)
TD relative x at stop (mm)
0.0
700
657
1.4
1358
1332
689
1600
1590
628
2258
2237