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Legible Robot Motion: Efficient vs. Legible Reaching

Interactive 3D robot-arm simulator comparing efficient (shortest-path) reaching motion against legible motion that exaggerates its trajectory early to signal its true target to a nearby human observer, with a live goal-confidence readout and a legibility-vs-path-length trial chart.

Robotics & Kinematics3DModerate60 FPS

When a robot arm shares a workspace with a person, the shortest path to its goal is not always the safest one — it can look ambiguous between several plausible targets right up until the last moment. This simulator plays out both strategies on the same reach: an efficient, minimum-length trajectory, and a legible trajectory that deliberately exaggerates its early motion to signal the true target sooner. A simulated human observer's live confidence readout, plus a running path-length-vs-legibility chart across randomized trials, makes the efficiency/predictability trade-off directly visible.

⚙ Under the hood

Compare a shortest-path robot-arm reach against a legible trajectory that deliberately exaggerates its early motion to signal its true target sooner, with a live human-confidence readout and a path-length-vs-legibility trial chart.

human-robot interactionlegible motionmotion planningtrajectory legibilityrobot trustintent inference

3D · Three.js / WebGL renderer · 60 FPS target · runs fully client-side, no install