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Table 9 Result of certification by experiment

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

700

700

657

657

1.4

700

700

1358

1332

689

0.0

700

1600

1600

1590

628

1.4

700

1600

2258

2237

700