R. Alami, A. Albu-schaeffer, A. Bicchi, R. Bischoff, R. Chatila et al., Safe and dependable physical human-robot interaction in anthropic domains: State of the art and challenges, Procceedings IROS Workshop on pHRI-Physical Human-Robot Interaction in Anthropic Domains, 2006.
URL : https://hal.archives-ouvertes.fr/hal-01295366

S. Nonaka, K. Inoue, T. Arai, and Y. Mae, Evaluation of human sense of security for coexisting robots using virtual reality. 1st report: evaluation of pick and place motion of humanoid robots, IEEE International Conference on Robotics and Automation, ICRA, vol.3, pp.2770-2775, 2004.

M. Zinn, O. Khatib, B. Roth, and J. K. Salisbury, Playing it safe, IEEE Robotics & Automation Magazine, vol.11, issue.2, pp.12-21, 2004.

A. Bicchi and G. Tonietti, Fast and soft arm tactics: Dealing with the safety-performance trade-off in robot arms design and control, Robotics and Automation Magazine, vol.11, issue.2, pp.22-33, 2004.

, The robot has the object in its hand. The human is sitting on a chair looking at his left. While the motion planned with a standard planner does not consider the presence of the human, the one planned by taking into account the three constraints generates a comfortable motion

M. Yoda and Y. Shiota, Basic study on avoidance motions for human behaviors, IEEE International Workshop on Robot and Human Interactive Communication, pp.318-322, 1995.

E. Pacchierotti, H. Christensen, and P. Jensfelt, Human-robot embodied interaction in hallway settings: a pilot user study, IEEE International Workshop on Robot and Human Interactive Communication, pp.164-171, 2005.

, Evaluation of passing distance for social robots, IEEE International Workshop on Robot and Human Interactive Communication, pp.315-320, 2006.

K. Dautenhahn, M. Walters, S. Woods, K. L. Koay, C. L. Nehaniv et al., How may i serve you?: a robot companion approaching a seated person in a helping context, ACM SIGCHI/SIGART International Conference on Human-Robot Interaction, pp.172-179, 2006.
URL : https://hal.archives-ouvertes.fr/hal-01976200

F. Yamaoka, T. Kanda, H. Ishiguro, and N. Hagita, How close?: model of proximity control for information-presenting robots, ACM/IEEE International Conference on Human-Robot Interaction, pp.137-144, 2008.

K. L. Koay, E. A. Sisbot, D. A. Syrdal, M. L. Walters, K. Dautenhahn et al., Exploratory study of a robot approaching a person in the context of handling over an object, Association for the Advancement of Artificial Intelligence Spring Symposia, AAAI, 2007.

E. A. Sisbot, L. F. Urias, R. Alami, and T. Siméon, Spatial reasoning for human-robot interaction, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007.

E. A. Sisbot, L. F. Marin-urias, R. Alami, and T. Simeon, Human aware mobile robot motion planner, IEEE Transactions on Robotics, vol.23, pp.874-883, 2007.
URL : https://hal.archives-ouvertes.fr/hal-01857545

. Cogniron, Cogniron project ra3 final deliverable, LAAS/CNRS, Tech. Rep, 2008.

E. T. Hall, The Hidden Dimension, 1966.

K. Yamane and Y. Nakamura, Natural motion animation through constraining and deconstraining at will, IEEE Transactions on Visualization and Computer Graphics, vol.9, issue.3, pp.352-360, 2003.

P. Baerlocher and R. Boulic, An inverse kinematics architecture enforcing an arbitrary number of strict priority levels, The Visual Computer: International Journal of Computer Graphics, vol.20, issue.6, pp.402-417, 2004.

M. Katayama and H. Hasuura, Optimization principle determines human arm postures and "comfort, SICE 2003 Annual Conference, vol.1, pp.1000-1005, 2003.

A. Ettlin and H. Bleuler, Randomised Rough-Terrain Robot Motion Planning, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.5798-5803, 2006.

C. Urmson and R. Simmons, Approaches for heuristically biasing RRT growth, IEEE/RSJ IROS 2003, 2003.

R. Diankov and J. Kuffner, Randomized statistical path planning, Proceedings of IEEE/RSJ 2007 International Conference on Robots and Systems (IROS). Citeseer, 2007.

L. Jaillet, J. Cortés, and T. Siméon, Sampling-based path planning on configuration-space costmaps, IEEE Transactions on Robotics, 2010.
URL : https://hal.archives-ouvertes.fr/hal-01986202

J. Mainprice, E. A. Sisbot, L. Jaillet, J. Cortes, R. Alami et al., Planning human-aware motions using a sampling-based costmap planner, 2010.
URL : https://hal.archives-ouvertes.fr/hal-01976227

S. Lavalle and J. Kuffner, Rapidly-exploring random trees: Progress and prospects, Algorithmic and computational robotics: new directions: the fourth Workshop on the Algorithmic Foundations of Robotics, p.293, 2001.