「相棒だよ！」：HRIにおける単一ロボットの別個のアイデンティティと制御の効果
"Meet My Sidekick!": Effects of Separate Identities and Control of a Single Robot in HRI
1台のロボットの頭部とグリッパーを別々のエージェントとして提示する3条件（単一、共身体、分割身体）を比較し、ユーザーが制御領域ごとに異なるアイデンティティを知覚し、故障を特定のアイデンティティと結びつけることを示した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
※ AIが要旨から生成した要約です。正確性は原文をご確認ください。
著者: Drake Moore, Arushi Aggarwal, Emily Taylor, Sarah Zhang, Taskin Padir, Xiang Zhi Tan
分類: cs.RO
原文アブストラクト
The presentation of a robot's capability and identity directly influences a human collaborator's perception and implicit trust in the robot. Unlike humans, a physical robot can simultaneously present different identities and have them reside and control different parts of the robot. This paper presents a novel study that investigates how users perceive a robot where different robot control domains (head and gripper) are presented as independent robots. We conducted a mixed design study where participants experienced one of three presentations: a single robot, two agents with shared full control (co-embodiment), or two agents with split control across robot control domains (split-embodiment). Participants underwent three distinct tasks -- a mundane data entry task where the robot provides motivational support, an individual sorting task with isolated robot failures, and a collaborative arrangement task where the robot causes a failure that directly affects the human participant. Participants perceived the robot as residing in the different control domains and were able to associate robot failure with different identities. This work signals how future robots can leverage different embodiment configurations to obtain the benefit of multiple robots within a single body.
