Footing in human-robot conversations: how robots might shape participant roles using gaze cues
Proceedings of the 4th ACM/IEEE international conference on Human robot interaction
Nonverbal leakage in robots: communication of intentions through seemingly unintentional behavior
Proceedings of the 4th ACM/IEEE international conference on Human robot interaction
Predictability or adaptivity?: designing robot handoffs modeled from trained dogs and people
Proceedings of the 6th international conference on Human-robot interaction
Using spatial and temporal contrast for fluent robot-human hand-overs
Proceedings of the 6th international conference on Human-robot interaction
HRI '12 Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction
Designing effective gaze mechanisms for virtual agents
Proceedings of the SIGCHI Conference on Human Factors in Computing Systems
Legibility and predictability of robot motion
Proceedings of the 8th ACM/IEEE international conference on Human-robot interaction
CHOMP: Covariant Hamiltonian optimization for motion planning
International Journal of Robotics Research
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As assistive robots become popular in factories and homes, there is greater need for natural, multi-channel communication during collaborative manipulation tasks. Non-verbal communication such as eye gaze can provide information without overloading more taxing channels like speech. However, certain collaborative tasks may draw attention away from these subtle communication modalities. For instance, robot-to-human handovers are primarily manual tasks, and human attention is therefore drawn to robot hands rather than to robot faces during handovers. In this paper, we show that a simple manipulation of a robot's handover behavior can significantly increase both awareness of the robot's eye gaze and compliance with that gaze. When eye gaze communication occurs during the robot's release of an object, delaying object release until the gaze is finished draws attention back to the robot's head, which increases conscious perception of the robot's communication. Furthermore, the handover delay increases peoples' compliance with the robot's communication over a non-delayed handover, even when compliance results in counterintuitive behavior.