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Co-presence and embodied interaction are two fundamental characteristics of the command and control situation for service robots. This paper presents a study of spatial distances and orientation of a robot with respect to a human user in an experimental setting. Relevant concepts of spatiality from social interaction studies are introduced and related to(More)
To an increasing extent, robots are being designed to become a part of the lives of ordinary people. This calls for new models of the interaction between humans and robots, taking advantage of human social and communicative skills. Furthermore, human– robot relationships must be understood in the context of use of robots, and based on empirical studies of(More)
Human interaction with a service robot requires a shared representation of the environment for spoken dialogue and task specification where names used for particular locations are depending on personal preferences. A question is how such human oriented models can be tied to the geometric robotic models needed for precise localisation and navigation. We(More)
— This paper describes the experiences from the iterative design of a fetch-and–carry-robot, to be used by motion-impaired people in an office environment. A user-centered approach was chosen, involving several steps of information elicita-tion to inform the design. We describe the main elements of the design process, the communication and interaction(More)
This paper describes the motivation, methodology, and findings of a long-term usage study of CERO, a service robot intended to assist partly motion-impaired people with the transportation of light objects in an office environment. We describe the user's experiences with utilizing the robot over a period of 3 months, and the overall process of adapting(More)
This paper describes how the Wizard-of-Oz framework can be applied to a service robotics scenario. A scenario – the Home Tour Scenario – involving a collaborative service discovery and configuration multimodal dialogue for the robot is described. The role of the wizard operators producing dialogue and robot movements is discussed as well as the specific(More)
This paper describes the development process of a contextualized corpus for research on Human-Robot Communication. The data have been collected in two Wizard-of-Oz user studies performed with 22 and 5 users respectively in a scenario that is called the Home Tour. In this scenario the users show the environment (a single room, or a whole floor) to a robot(More)
In this paper we present an analysis of a set of examples of how verbal and non-verbal behavior of a service robot influence users' way of positioning themselves during interaction, using concepts from theories of non-verbal behavior. Based on the analysis we propose a design case where a robot utilizes a (naïve) spatial prompting strategy to influence the(More)