Abstract
In order to build social robots that can coexist with human beings, it is necessary to understand the mechanisms of how communication protocols are developed in human–robot interactions. Our main goal is to explore how a communication protocol can be established incrementally between a human and our minimally designed robot which is called sociable dining table (SDT). SDT integrates a dish robot put on the table and behaves according to the knocks that a human emits. To achieve our goal, we conducted two experiments: a human–human experiment (Wizard-of-Oz) and a human–robot interaction (HRI) experiment. The aim of the first experiment was to explore how people build a protocol of communication. Based on the first experiment, we suggested an actor-critic architecture that simulated in an open-ended way the adaptive behavior which we determine in the first experiment. After that, we demonstrated in the HRI experiment how our actor-critic architecture enabled the adaptation to individual preferences in order to obtain a personalized protocol of communication.
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