Spontaneous gait phase synchronization of human to a wheeled mobile robot with replicating gait-induced upper body oscillating motion

Abstract

Synchronization between humans is often observed in our daily lives, for example in breathing, in hand clapping in crowds, and in walking. It has been reported that pedestrian gait synchronization maximizes walking flow efficiency. As increasingly more mobile robots are being developed for practical use, it is important to consider how robots may impact pedestrian flows. While there is research on synchronization phenomena between humans and robots, gait synchronization between humans and robots has yet to be studied, particularly synchronization occurring with wheeled humanoid robots while moving. In this paper, we investigated the gait phase synchronization between humans and a wheeled mobile humanoid robot, which moved its upper body in three distinct types of motion patterns: (1) no-motion, (2) arm-swinging (as is common for typical mobile humanoids), and (3) arms-swinging in addition to periodic vertical-oscillation similar to the human upper body movement while walking. Rayleigh test was performed on the distribution of the obtained gait phase differences under each condition and a significant distributional bias was confirmed when participants were walking with the robot that performed both arm-swinging and vertical-oscillation of the upper body. These results suggest that humans can spontaneously synchronize their gaits with wheeled robots that utilize upper body oscillating. These findings can be important for the design of robot-integrated urban transportation systems, such as train stations and airports, where both humans and robots are mobile and a highly efficient flow is required.