Print Email Facebook Twitter Enthusiastic Robots make Better Contact Title Enthusiastic Robots make Better Contact Author Saad, E. (TU Delft Interactive Intelligence) Broekens, D.J. (Universiteit Leiden) Neerincx, M.A. (TU Delft Interactive Intelligence; TNO) Hindriks, K.V. (Vrije Universiteit Amsterdam) Date 2019-11 Abstract This paper presents the design and evaluation of human-like welcoming behaviors for a humanoid robot to draw the attention of passersby by following a three-step model: (1) selecting a target (person) to engage, (2) executing behaviors to draw the target's attention, and (3) monitoring the attentive response. A computer vision algorithm was developed to select the person, start the behaviors and monitor the response automatically. To vary the robot's enthusiasm when engaging passersby, a waving gesture was designed as basic welcoming behavioral element, which could be successively combined with an utterance and an approach movement. This way, three levels of enthusiasm were implemented: Mild (waving), moderate (waving and utterance) and high (waving, utterance and approach movement). The three levels of welcoming behaviors were tested with a Pepper robot at the entrance of a university building. We recorded data and observation sheets from several hundreds of passersby (N = 364) and conducted post-interviews with randomly selected passersby (N = 28). The level selection was done at random for each participant. The passersby indicated that they appreciated the robot at the entrance and clearly recognized its role as a welcoming robot. In addition, the robot proved to draw more attention when showing high enthusiasm (i.e., more welcoming behaviors), particularly for female passersby. Subject Human Robot InteractionRobot BehaviorsDrawing Attentionsocial roboticsEnthusiastic RobotsGreeting ModelEngagement To reference this document use: http://resolver.tudelft.nl/uuid:aa40942d-8733-4fe8-83e2-b7dec7a46f75 DOI https://doi.org/10.1109/IROS40897.2019.8967950 Publisher IEEE, Macau SAR, China ISBN 978-1-7281-4004-9 Source 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 Event 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019-11-04 → 2019-11-08, The Venetian Macao, Macau, China Series IEEE International Conference on Intelligent Robots and Systems, 2153-0858 Part of collection Institutional Repository Document type conference paper Rights © 2019 E. Saad, D.J. Broekens, M.A. Neerincx, K.V. Hindriks Files PDF EnthusiasticRobots_IROS2019.pdf 2.98 MB Close viewer /islandora/object/uuid:aa40942d-8733-4fe8-83e2-b7dec7a46f75/datastream/OBJ/view