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Mobile robots are increasingly being deployed in public spaces such as shopping malls, airports, and urban sidewalks. Most of these robots are designed with human-aware motion planning capabilities but are not designed to communicate with…

To provide effective and enjoyable human-robot interaction, it is important for social robots to exhibit nonverbal behaviors, such as a handshake or a hug. However, the traditional approach of reproducing pre-coded motions allows users to…

while most of the tactile robots are operated in close-set conditions, it is challenging for them to operate in open-set conditions where test objects are beyond the robots' knowledge. We proposed an open-set recognition framework using…

In this work, we analyze video data and interviews from a public deployment of two trash barrel robots in a large public space to better understand the sensemaking activities people perform when they encounter robots in public spaces. Based…

Collaborative robots became a popular tool for increasing productivity in partly automated manufacturing plants. Intuitive robot teaching methods are required to quickly and flexibly adapt the robot programs to new tasks. Gestures have an…

A service robot can provide a smoother interaction experience if it has the ability to proactively detect whether a nearby user intends to interact, in order to adapt its behavior e.g. by explicitly showing that it is available to provide a…

In this work, we investigate swarm self-clustering, where robots autonomously organize into spatially coherent groups using only local sensing and decision-making, without external commands, global positioning, or inter-robot communication.…

Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…

Tactile gesture recognition systems play a crucial role in Human-Robot Interaction (HRI) by enabling intuitive communication between humans and robots. The literature mainly addresses this problem by applying machine learning techniques to…

Good human relationships are important for us to have a happy life and maintain our well-being. Otherwise, we will be at risk of experiencing loneliness or depression. In human-computer interaction (HCI) and computer-supported cooperative…

Previous research found that robots should best be designed to fit their given task, whilst others identified gender effects in people's evaluations of robots. This study combines this knowledge to investigate stereotyping effects of robot…

Contemporary robots are increasingly mimicking human social behaviours to facilitate interaction, such as smiling to signal approachability, or hesitating before taking an action to allow people time to react. Such techniques can activate a…

Humans are social creatures who readily recognize various social interactions from simple display of moving shapes. While previous research has often focused on visual features, we examine what semantic representations that humans employ to…

The demand for social robots in fields like healthcare, education, and entertainment increases due to their emotional adaptation features. These robots leverage multimodal communication, incorporating speech, facial expressions, and…

Social robots are becoming increasingly diverse in their design, behavior, and usage. In this chapter, we provide a broad-ranging overview of the main characteristics that arise when one considers social robots and their interactions with…

Humanoid robots have achieved significant progress in motion generation and control, exhibiting movements that appear increasingly natural and human-like. Inspired by the Turing Test, we propose the Motion Turing Test, a framework that…

Co-speech gestures enhance interaction experiences between humans as well as between humans and robots. Existing robots use rule-based speech-gesture association, but this requires human labor and prior knowledge of experts to be…

A single mobile service robot may generate hundreds of encounters with pedestrians, yet there is little published data on the factors influencing these incidental human-robot encounters. We report the results of a between-subjects…

Personality has been identified as a vital factor in understanding the quality of human robot interactions. Despite this the research in this area remains fragmented and lacks a coherent framework. This makes it difficult to understand what…

How is human-robot interaction considered within the development of new robotic systems by practitioners? This study sets out to inquire, whether the development teams of robotic products have been considering human factor methods in their…