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The work at hand addresses the question: What kind of navigation behavior do humans expect from a robot in a path crossing scenario? To this end, we developed the " Inverse Oz of Wizard " study design where participants steered a robot in a scenario in which an instructed person is crossing the robot's path. We investigated two aspects of robot behavior:… (More)
— In the future robots will more and more enter our daily life. If we want to increase their acceptance it is necessary that people feel safe in the surrounding of robots. As a prerequisite we think that the robot's behavior has to be legible in order to achieve such a feeling of perceived safety. With our present experiment we assess the perceived safety… (More)
We present a pilot study to identify hesitation signals in Human-Robot Spatial Interaction which we aim to employ to evaluate the quality of the robots executed behaviour. The presented study focuses on head-on encounters between a human and a robot in pass-by scenarios. Our results indicate that these hesitation signals can be found and therefore present a… (More)
In this paper we address the question how a human would expect a robot to move when a human is crossing its way. In particular we consider the problem that physical capabilities of robots differ from humans. In order to find out how humans expect a robot, with non humanlike capabilities, to move we designed and conducted a study were the participants steer… (More)
With the work at hand we investigate the legibility factors goal-predictability and trajectory-predictability in a human-robot path crossing scenario and their correlation with other HRI properties like safety, comfort, and reliability in order to assess which factor is more important for a safe and comfortable interaction.