Abstract
A general problem in human–robot interaction is how to test the quality of single robot behavior, in order to develop robust and human-acceptable skills. The most typical approach are user tests with subjective measures (questionnaires). We propose a new experimental paradigm that combines subjective measures with an objective behavioral measure, namely viewing times of images viewed as self-paced slide show. We applied this paradigm to human-aware robot navigation. With three experiments, we studied the influence of two aspects of robot motion: velocity profiles and the robot’s orientation. A decreasing velocity profile influenced the predictability of the observed motion, and robot orientations diverting from the robot’s motion vector caused reduced perceived autonomy ratings. We conclude that the viewing time paradigm is a promising tool for studying human-aware robot behavior and that the design of human-aware robot navigation needs to consider both the velocity and the orientation of robots.
Highlights
We analyzed mean viewing times aggregated across all frames using a repeated measures ANOVA with the factors velocity, viewing angle, and motion direction
The dependent measure of the first ANOVA was viewing time aggregated across all frames and the dependent measure of the second ANOVA was viewing time at frame 5
We introduced the viewing time paradigm to the study of human-aware robot behavior
Summary
Stimuli and Design In this experiment, we varied the velocity profiles of the robot while leaving robot orientation constant (robot faced in the direction of motion in all conditions). Stimuli and Design In this experiment, we varied the orientation of the robot while leaving robot motion constant (the robot moved with a constant velocity profile in all conditions). The robot moved along a linear trajectory and faced one of the four cardinal directions: forward, left, right, and backward (orientation relative to the motion vector). Stimuli and Design Stimuli and procedure were the same as in Experiments 1 and 2 with the exception that we manipulated both the velocity profile (constant, increasing, decreasing) and robot orientation (forward, backward) in this experiment.
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