Avoiding the uncanny valley: Robot appearance, personality and consistency of behavior in an attention-seeking home scenario for a robot companion

Autonomous Robots

Volumn 24, Issue 2, 2008, Pages 159-178

  Walters, Michael L ^a   Syrdal, Dag S ^a   Dautenhahn, Kerstin ^a   te Boekhorst, René ^a   Koay, Kheng Lee ^a  

^a UNIVERSITY OF HERTFORDSHIRE   (United Kingdom)

Author keywords

Appearance; Behavior; HRI; Personality; Robot companion; User study

Indexed keywords

FEATURE EXTRACTION; HUMAN COMPUTER INTERACTION; IMAGE PROCESSING;

HUMAN ROBOT INTERACTION (HRI); PERSONALITY ATTRIBUTIONS; ROBOT COMPANION;

ROBOTS;

EID: 38549103757     PISSN: 09295593     EISSN: None     Source Type: Journal    
DOI: 10.1007/s10514-007-9058-3     Document Type: Article

References (70)

1. Albright, L., Kenny, D. A., & Malloy, T. E. (1988). Consensus in personality judgments at zero acquaintance. Journal of Personality and Social Psychology, 55(3), 387-395.
2. Asquith, P. J. (1997). Why anthropomorphism is not metaphor: crossing concepts and cultures in animal behavior studies. In R. W. Mitchell, N. S. Thompson, & H. L. Miles (Eds.), Anthropomorphism, anecdotes and animals (pp. 22-34). Albany: State University of New York Press.
3. Ball, G., & Breese, J. (2000). Emotion and personality in a conversational agent. In J. Cassell, J. Sullivan, S. Prevost, & E. Churchill (Eds.), Embodied conversational agents. Cambridge: MIT Press.
4. Bethal, C. L., & Murphy, R. R. (2006). Affective expression in appearance-constrained robots. In Proceedings of ACM SIGCHI/SIGART 2nd conference on human-robot interaction (HRI '06) (pp. 327-328), Salt Lake City, Utah, US.
5. Borkenau, P., & Liebler, A. (1992). Trait inferences: sources of validity at zero acquaintance. Journal of Personality and Social Psychology, 62(4), 645-657.
6. Breazeal, C. L. (2002). Designing sociable robots. Cambridge: MIT Press.
7. Brenton, H., Gillies, M., Ballin, D., & Chattin, D. (2005). The uncanny valley: does it exist? In Proceedings of conference of human computer interaction, workshop on human animated character interaction, Napier University, Edinburgh. Available online at: http://www.dcs.shef.ac.uk/cogsys/ workshop/program.html.
8. Bruce, A., Nourbakhsh, I., & Simmons, R. (2002). The role of expressiveness and attention in human-robot interaction. In Proceedings of IEEE international conference on robotics and automation (ICRA 2002) (pp. 4138-4143), Washington DC, USA.
9. Burgoon, J.K., & Jones, S. B. (1976). Toward a theory of personal space expectations and their violations. Human Communication Research, 2(2), 131-146.
10. Dautenhahn, K. (2002). Design spaces and niche spaces of believable social robots. In Proceedings of the 11th annual international workshop on robot and human interactive communication (RO-MAN 02) (pp. 192-197), Berlin, Germany.
11. Dautenhahn, K. (2004) Robots We like to live with?-A developmental perspective on a personalized, life-long robot companion. In Proceedings of the 13th IEEE international workshop on robot and human interactive communication (RO-MAN 2004) (pp. 17-22).
12. Dautenhahn, K., Woods, S. N., Kaouri, C., Walters, M. L., Koay, K. L., & Werry, I. (2005). What is a robot companion-friend, assistant or butler? In Proceedings of IEEE RSJ international conference on intelligent robot systems (IROS'05) (pp. 1488-1493), Edmonton, Canada.
13. Dautenhahn, K., Walters, M. L., Woods, S. N., Koay, K. L., Nehaniv, C. L., Sisbot, E. A., et al. (2006). How may I serve you? A robot companion approaching a seated person in a helping context. In Proceedings of ACM SIGCHI/SIGART 2nd conference on human robot interaction (HRI '06) (pp. 172-179), Salt Lake City, Utah, USA.
14. Davis, H. (1997). Animal cognition versus animal thinking: the anthropomorphic. In R. W. Mitchell, N. S. Thompson, & H. L. Miles (Eds.), Anthropomorphism, anecdotes, and animals. Albany: State University of New York Press.
15. Deaux, K., Dane, F. C., & Wrightsman, L. S. (1993). Social psychology in the '90s (6th ed.). Pacific Grove: Brooks/Cole.
16. Dryer, D. C. (1999). Getting personal with computers: how to design personalities for agents. Applied Artificial Intelligence, 13(3), 273-295.
17. Duffy, B. R. (2003). Anthropomorphism and the social robot. Robotics and Autonomous Systems, 42, 177-190.
18. Ferber, D. (2003). The man who mistook his girlfriend for a robot. Popular Science, September 2003.
19. Fong, T., Nourbakhsh, I., & Dautenhahn, K. (2003). A survey of socially interactive robots. Robotics and Autonomous Systems, 42(4-3), 143-166.
20. Friedman, B., Khan, P. H. & Hagman, J. (2003). Hardware companions?-What online AIBO discussion forums reveal about the human-robotic relationship. In Proceedings of the CHI 2003 conference on human factors in computing systems (pp. 273-279), Ft Lauderdale, Florida, USA.
21. Gill, A. J., Oberlander, J., & Austin, E. (2006). Rating e-mail personality at zero acquaintance. Personality and Individual-Differences, 40(3), 497-507.
22. Gillespie, D. L., & Leffler, A. (1983). Theories of nonverbal behavior: a critical review of proxemics research. Sociological Theory, 1, 120-154.
23. Gockley, R. Matarić, M. (2006). Encouraging physical therapy compliance with a handsoff mobile robot. In Proceedings of ACM SIGCHI/SIGART 2nd conference on human robot interaction (HRI '06) (pp. 150-155), Salt Lake City, USA.
24. Goetz, J., Kiesler, S., & Powers, A. (2003). Matching robot appearance and behavior to tasks to improve human-robot cooperation. In Proceedings of the 12th IEEE international workshop on robot and human interactive communication (pp. 55-60), Berkeley, CA, USA.
25. Goldberg, L. R. (1999). A broad-bandwidth, public domain, personality inventory measuring the lower-level facets of several five-factor models. Personality Psychology in Europe, 7, 7-28.
26. Gong, L., & Nass, C. (2007). When a talking-face computer agent is half-human and half-humanoid: human identity and consistency preference. Journal of Human Communication Research, 33(2), 163-193.
27. Hall, E. T. (1966). The hidden dimension. New York: Doubleday.
28. Hall, E. T. (1968). Proxemics. Current Anthropology, 9(2-3), 83-108.
29. Hanson, D. (2006). Exploring the aesthetic range for humanoid robots. In Proceedings of cognitive science (CogSci 2006) workshop on android science (pp. 16-20), Vancouver, BC, Canada.
30. Hanson, D., Olney, A., Pereira, I. A. & Zielke, M. (2005). Upending the uncanny valley. In Proceedings of the American association for artificial intelligence (AAII) conference, Pittsburgh, PA, USA.
31. Hinds, P. J., Roberts, T. L., & Jones, H. (2004). Whose job is it anyway? A study of human-robot interaction in a collaborative task. Human-Computer Interaction, 19, 151-181.
32. Ishiguro, H. (2007). Scientific issues concerning androids. The International Journal of Robotics Research, 26, 101-117.
33. Kanda, T., Hirano, T., & Eaton, D. (2004). Interactive robots as social partners and peer tutors for children: a field trial. Human-Computer Interaction, 19, 61-84.
34. Kanda, T., Kamasima, M., Imai, M., Ono, T., Sakamoto, D., Ishiguro, H., & Anzai, Y. (2007). A humanoid robot that pretends to listen to route guidance from a human. Autonomous Robots, 22(1), 87-100.
35. Khan, Z. (1998). Attitudes towards intelligent service robots (Technical report). IPLab, NADA, Royal Institute of Technology. TRITA-NA-E98421, IPLab-154.
36. Kiesler, S., & Goetz, J. (2000). Machine trait scales for evaluating mechanistic mental models of robots and computer-based machines. White paper, www.peopleandrobots.org/hri/images/Machine_scales.pdf. Site last accessed January 2007.
37. Koay, K. L., Syrdal, D. S., Walters, M. L., & Dautenhahn, K. (2007, in press). Living with robots: investigating the habituation effect in participants' preferences during a longitudinal human-robot interaction study. In IEEE international symposium on robot and human interactive communication (RO-MAN07) (pp. 564-569), Jeju Island, Korea.
38. Lambert, D. (2004). Body language. New York: HarperCollins.
39. Lee, S., & Kiesler, S. (2005). Human mental models of humanoid robots. In Proceedings of the 2005 international conference on robotics and automation (ICRA 05) (pp. 2767-2772), Barcelona, Spain.
40. Li, S., Wrede, B., & Sagerer, G. (2006). A dialog system for comparative user studies on robot verbal behavior. In Proceedings of the 15th IEEE international symposium on robot and human interactive communication (RO-MAN06) (pp. 129-134).
41. Luczak, H., Roetting, M., & Schmidt, L. (2003). Let's talk: anthropomorphization as means to cope with stress of interacting with technical devices. Ergonomics, 46(13/14), 1361-1374.
42. MacDorman, K. F. (2005). Androids as an experimental apparatus: why is there an uncanny valley and can we exploit it? In Proceedings of the CogSci 2005 workshop: toward social mechanisms of android science (pp. 106-118), Stresa, Italy (2003).
43. MacDorman, K., & Ishiguro, H. (2006). The uncanny advantage of using androids in cognitive and social science research. Interaction Studies, 7(3), 297-337.
44. Minato, T., Shimada, M., Ishiguro, H., & Itakura, S. (2004a). Development of an android robot for studying human-robot interaction, innovations in applied artificial intelligence. In Proceedings of the 17th international conference on industrial and engineering applications of artificial intelligence and expert systems (IEA/AIE 04) (pp. 424-434).
45. Minato, T., MacDorman, K. F., Shimada, M., Itakura, S., Lee, K., & Ishiguro, H. (2004). Evaluating humanlikeness by comparing responses elicited by an android and a person. In Proceedings of the second international workshop on man-machine symbiotic systems (pp. 373-383), Kyoto, Japan.
46. Mori, M. (1970). Bukimi no tani (The uncanny valley). Energy, 7(4), 33-35.
47. Nass, C., Moon, Y., Fogg, B. J., & Reeves, B. (1995a). Can computer personalities be human personalities? International Journal of Human-Computer Studies, 43(2), 223-239.
48. Nass, C. I., Lombard, M., Henriksen, L., & Steuer, J. (1995b). Anthropocentrism and computers. Behaviour and Information Technology, 14(4), 229-238.
49. Norman, D. (2001). How might humans interact with robots. In Keynote address to the DARPA/NSF workshop on human-robot interaction. San Luis Obispo, CA.
50. Reeves, B., & Nass, C. (1996). The media equation: how people treat computers, television, and new media like real people and places. Cambridge: Cambridge University Press.
51. Sabanovic, S., Michalowski, M. P., & Caporael, L. R., (2007). Making friends: building social robots through interdisciplinary collaboration. In Multidisciplinary collaboration for socially assistive robotics: papers from the AAAI spring symposium (Technical Report SS-07-07) (pp. 71-77).
52. Scopelliti, M., Giuliani, M. V., D'Amico, A. M., & Fornara, F. (2004). If I had a robot at home.... Peoples' representation of domestic robot. In S. Keates, J. Clarkson, P. Langdon, & P. Robinson (Eds.), Designing a more inclusive world (pp. 257-266).
53. Severinson-Eklundh, K., Green, A., & Huutenrauch, H. (2003). Social and/colaborative aspects of interaction with a service robot. Robotics and Autonomous systems, 42, 223-234.
54. Stratton, L. O., Tekippe, D. J., & Flick, G. L. (1973). Personal space and self concept. Sociometry, 36, 424-429.
55. Syrdal, D. S., Dautenhahn, K., Woods, S. N., Walters, M. L., & Koay, K. L. (2006). Doing the right thing wrong'-personality and tolerance to uncomfortable robot approaches. In Proceedings of the 15th IEEE international symposium on robot and human interactive communication (RO-MAN06) (pp. 183-188), University of Hertfordshire, UK.
56. Syrdal, D. S., Dautenhahn, K., Woods, S., Walters, M., & Koay, K. L. (2007a). Looking good? Appearance preferences and robot personality inferences at zero acquaintance. In Multidisciplinary collaboration for socially assistive robotics: papers from the AAAI spring symposium. (Technical Report SS-07-07: 86-92).
57. Syrdal, D. S., Koay, K.-L., Walters, M. L., & Dautenhahn, K. (2007b). A personalised robot companion? The role of individual differences on spatial preferences in HRI scenarios. In IEEE international symposium on robot and human interactive communication (RO-MAN07) (pp. 26-29), Jeju Island, Korea.
58. Tapus, A., & Matarić, M. J. (2006). User personality matching with hands-off robot for post-stroke rehabilitation therapy. In Proceedings of the 10th international symposium on experimental robotics (ISER-06), Rio de Janeiro, Brazil.
59. te Boekhorst, R., Walters, M. L., Koay, K. L., Dautenhahn, K., & Nehaniv, C. L. (2005). A study of a single robot interacting with groups of children in a rotation game scenario. In Proceedings of IEEE CIRA 2005 (pp. 35-40), Espoo, Finland.
60. Walters, M. L., Woods, S. N., Koay, K. L., & Dautenhahn, K. (2005a). Practical and methodological challenges in designing and conducting human-robot interaction studies. In Proceedings of the AISB'05 symposium on robot companions hard problems and open challenges in human-robot interaction (pp. 110-119), UK.
61. Walters, M. L., Dautenhahn, K., Koay, K. L., Kaouri, C., te Boekhorst, R., Nehaniv, C. L., Werry, I., & Lee, D. (2005b). Close encounters: spatial distances between people and a robot of mechanistic appearance. In Proceedings of IEEE-RAS international conference on humanoid robots (Humanoids2005) (pp. 450-455), Tsukuba, Japan
62. Walters, M. L., Dautenhahn, K., te Boekhorst, R., Koay, K. L., Kaouri, C., Woods, S. N., Nehaniv, C. L., Lee, D., & Werry, I. (2005c). The influence of subjects'personality traits on personal spatial zones in a human-robot interaction experiment. In Proceedings of IEEE Ro-man 2005, 14th IEEE international workshop on robot and human interactive communication (RoMan05) (pp. 347-352), Nashville, USA.
63. Walters, M. L., Dautenhahn, K., te Boekhorst, R., & Koay, K. L. (2007). Exploring the design space of robot appearance and behavior in an attention-seeking 'living room' scenario for a robot companion. In Proceedings of IEEE artificial life (Alife 07) (pp. 341-347), Honolulu, Hawaii, USA.
64. Woods, S. N., Dautenhahn, K., & Schulz, J. (2004). The design space of robots: investigating children's views. In Proceedings of 13th IEEE international workshop on robot and human interactive communication (RO-MAN 04) (pp. 47-52), Kurashiki, Okayama Japan.
65. Woods, S. N., Dautenhahn, K., & Kaouri, C. (2005). Is someone watching me? Consideration of social facilitation effects in human-robot interaction experiments. In Proceedings of 2005 IEEE international symposium on computational intelligence in robotics and automation (CIRA 2005) (pp. 53-60), Espoo, Finland.
66. Woods, S. N., Walters, M. L., Koay, K. L., & Dautenhahn, K. (2006a). Comparing human robot interaction scenarios using live and video based methods: towards a novel methodological approach. In Proceedings of the 9th international workshop on advanced motion control (AMC'06) (pp. 750-755), Istanbul, Turkey.
67. Woods, S. N., Walters, M. L., Koay, K. L., & Dautenhahn, K. (2006b). Methodological issues in HRI: a comparison of live and video-based methods in robot to human approach direction trials. In Proceedings of the 15th IEEE international symposium on robot and human interactive communication (RO-MAN06) (pp. 51-58), Hertfordshire, UK.
68. Woods, S. N., Dautenhahn, K., Kaouri, C., te Boekhorst, R., Koay, K. L., & Walters, M. L. (2007). Are robots like people?-Relationships between participant and robot personality traits in human-robot interaction. Interaction Studies, 8(3), 281-305.
69. Yan, C., Peng, W., Lee, K. M., & Jin, S. (2004). Can robots have personality? An empirical study of personality manifestation, social responses, and social presence in human-robot interaction. In Proceedings of the 54th annual conference of the international communication association. Online at: www.allacademic.com/meta/p112661_index.html.
70. Zebrowitz, L. A., Hall, J. A., Murphy, N. A., & Rhodes, G. (2004). Looking smart and looking good: facial cues to intelligence and their origins. Personality and Social Psychology Bulletin, 28, 238-249.