{"ID":2847599,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.27436","arxiv_id":"2510.27436","title":"Preliminary Prototyping of Avoidance Behaviors Triggered by a User's Physical Approach to a Robot","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.","short_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 withdrawin...","url_abs":"https://arxiv.org/abs/2510.27436","url_pdf":"https://arxiv.org/pdf/2510.27436v1","authors":"[\"Tomoko Yonezawa\",\"Hirotake Yamazoe\",\"Atsuo Fujino\",\"Daigo Suhara\",\"Takaya Tamamoto\",\"Yuto Nishiguchi\"]","published":"2025-10-31T12:43:29Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.HC\"]","methods":"[]","has_code":false}