1) comparison with human operation:

1) comparison with human operation: Figure 5 shows the same layout of experiment in the nursing home in Figure 4 (b).

Two marks are put at a turning point and a goal point and the speed of RoombaTMis set to a normal setting.

The average time of ten trials is 77 seconds and the standard error is 4 seconds.

The time is faster than the time that the elderly took to manipulate the robot.