4th International Symposium on New Frontiers in Human-Robot Interaction 21st – 22nd April 2015 Canterbury, U.K. Held at the AISB’15 Convention M. Salem, A. Weiss, P. Baxter, K. Dautenhahn (Eds.) The Editors would like to thank the following for their support: EU FP7 DREAM project (#611391) Editors & Chairs: Maha Salem Astrid Weiss Paul Baxter Kerstin Dautenhahn The Symposium Programme Committee: Aris Alissandrakis Ross Mead Farshid Amirabdollahian Bilge Mutlu Christoph Bartneck Victor Ng-Thow-Hing Angelo Basteris Tatsuya Nomura Christian Becker-Asano Mohammad Obaid Tony Belpaeme Nuno Otero Cindy Bethel Joshua Peschel Dan Bohus Tony Pipe Maya Cakmak Ulrich Reiser Sylvain Calinon Laurel Riek Luisa Damiano Ben Robins Kerstin Eder Joan Saez-Pons Friederike Eyssel Joe Saunders Michael Fisher Lars Schillingmann Marc Hanheide Dag Syrdal Frank Hegel Adriana Tapus Takayuki Kanda Manfred Tscheligi Efstathia Karakosta Michael Walters Hatice Kose Matt Webster Hagen Lehmann Alan Wing Manja Lohse Sebastian Wrede Patrizia Marti Contents Foreword to the Symposium5 M. Salem, A. Weiss, P. Baxter, K. Dautenhahn Keynotes7 Prof. Mark Coeckelbergh......................... 8 Prof. Angelika Peer............................ 9 Session 1 Ethical Issues in HRI 10 General Republics' Opinions of Robot Ethics: Comparison between Japan, the USA, Germany, and France................. 11 T. Nomura Does anyone want to talk to me? Reflections on the use of assistance and companion robots in care homes .................. 17 K. Dautenhahn, A. Campbell, D. Syrdal Session 2 Robots' Impact on Human Performance 21 A new biomimetic approach towards educational robotics: the Dis- tributed Adaptive Control of a Synthetic Tutor Assistant . 22 V. Vouloutsi, M. Munoz, K. Grechuta, S. Lallee, A. Duff., J-Y. Llobet, P. Verschure Towards a Child-Robot Symbiotic Co-Development: a Theoretical Approach ................................. 30 V. Charisi, D. Davison, F. Wijnen, J. van der Meij, D. Reidsma, T. Prescott, W. van Joolingen, V. Evers. Presence of Life-Like Robot Expressions Influences Children's Enjoy- ment of Human-Robot Interactions in the Field............ 36 D. Cameron, S. Fernando, E. Collins, A. Millings, R. Moore, A. Sharkey, V. Evers, and T. Prescott Can Less be More? The Impact of Robot Social Behaviour on Human Learning.................................. 42 J. Kennedy, P. Baxter, T. Belpaeme 3 Session 3 Verbal Interaction 45 Perception of Artificial Agents and Utterance Friendliness in Dialogue 46 S. Griffiths, F. Eyssel, A. Philippsen, C. Pietsch, S. Wachsmuth Gender, more so than Age, Modulates Positive Perceptions of Language- Based Human-Robot Interactions.................... 54 M. Strait, P. Briggs, M. Scheutz Robot Learning from Verbal Interaction: A Brief Survey . 62 H. Cuay´ahuitl Session 4 Facial Expressions and Emotions 66 Performing Facial Expression Synthesis on Robot Faces: A Real-time Software System.............................. 67 M. Moosaei, C. Hayes, L. Riek Embodiment, emotion, and chess: A system description . 74 C. Becker-Asano, N. Riesterer, J. Hu´e,B. Nebel Session 5 Non-Verbal Cues and Behaviours 81 Robots Guiding Small Groups: The Effect of Appearance Change on the User Experience............................ 82 M. Joosse, R. Knuppe, G. Pingen, R. Varkevisser, J. Vukoja, M. Lohse, V. Evers Turn-yielding cues in robot-human conversation............ 85 J. van Schendel, R. Cuijpers How can a tour guide robot's orientation influence visitors' orientation and formations?.............................. 92 D. Karreman, G. Ludden, E. van Dijk, V. Evers Robots Have Needs Too: People Adapt Their Proxemic Preferences to Improve Autonomous Robot Recognition of Human Social Signals 100 R. Mead, M, Mataric Session 6 Robot Perception and Acceptance 108 The Paro robot seal as a social mediator for healthy users . 109 N. Wood, A. Sharkey, G. Mountain, A. Millings Differences on Social Acceptance of Humanoid Robots between Japan and the UK ................................115 T. Nomura, D. Syrdal, K. Dautenhahn 4 Fourth International Symposium on “New Frontiers in Human-Robot Interaction” 21–22 April 2015, Canterbury, UK Maha Salem1 and Astrid Weiss2 and Paul Baxter3 and Kerstin Dautenhahn1 Abstract. The Symposium on “New Frontiers in Human-Robot In- England; the third symposium took place during AISB 2014 at Gold- teraction (HRI)” is the fourth of a series of symposia held in con- smiths, University of London, England. These three previously or- junction with the AISB convention. Its topics cover cutting-edge in- ganised symposia were characterised by excellent presentations as terdisciplinary research on understanding, designing, and evaluating well as extensive and constructive discussions of the research among robotic systems for and with humans. Its main difference to other the participants. Inspired by the great success of the preceding events HRI-related conferences and workshops is its inclusiveness for ex- and the rapidly evolving field of HRI, the continuation of the sympo- ploratory research and the amount of time for open discussion. This sium series aims to provide a platform to present and discuss collab- year’s symposium consists of six sessions covering topics such as oratively recent findings and challenges in HRI. verbal and non-verbal interaction, people’s perceptions of robots, and ethical issues. Moreover, it includes keynote talks by Mark Coeckel- bergh and Angelika Peer and a panel on the topic “Robot Perception 3 SUBMISSION CATEGORIES and Acceptance”. In order to enable a diverse program, the symposium offers a variety of submission categories, which go beyond typical conference 1 INTRODUCTION formats. The fourth symposium offered the following categories in the call for papers: Human-Robot Interaction (HRI) is a quickly growing and very inter- disciplinary research field. Its application areas will have an impact *N* Novel research findings resulting from completed empirical not only economically, but also on the way we live and the kinds of studies relationships we may develop with machines. Due to its interdisci- In this category we encourage submissions where a substantial plinary nature of the research different views and approaches towards body of findings has been accumulated based on precise research HRI need to be nurtured. questions or hypotheses. Such studies are expected to fit within In order to help the field to develop, the Symposium on New Fron- a particular experimental framework (e.g. using qualitative or tiers in Human-Robot Interaction encourages submissions in a va- quantitative evaluation techniques) and the reviewing of such papers riety of categories, thus giving this event a unique character. The apply relevant (statistical and other) criteria accordingly. Findings symposium consists of paper presentations, panels and, importantly, of such studies should provide novel insights into human-robot much time for open discussions which distinguishes this event from interaction. regular conferences and workshops in the field of HRI. *E* Exploratory studies Exploratory studies are often necessary to pilot and fine-tune the 2 HISTORY methodological approach, procedures and measures. In a young research field such as HRI with novel applications and various The first symposium on “New Frontiers in Human-Robot Interac- robotic platforms, exploratory studies are also often required to tion” was held as part of AISB 2009 in Edinburgh, Scotland; the sec- derive a set of concrete research questions or hypotheses, in partic- ond symposium was run in conjunction with AISB 2010 in Leicester, ular concerning issues where there is little related theoretical and experimental work. Although care must be taken in the interpretation 1 School of Computer Science, University of Hertfordshire, College Lane, Hatfield, Hertfordshire, AL10 9AB, UK, email: m.salem, of findings from such studies, they highlight issues of great interest k.dautenhahn @herts.ac.uk { and relevance to peers. 2 ACIN Institute} of Automation and Control, Vienna University of Technology, Gusshausstrae 27-29/E376, 1040 Vienna, Austria, email: *S* Case studies [email protected] 3 Centre for Robotics and Neural Systems, The Cognition Insti- Due to the nature of many HRI studies, a large-scale quantitative tute, Plymouth University, Plymouth, Devon, PL4 8AA, UK, email: approach is sometimes neither feasible nor desirable. However, [email protected] case study evaluation provides meaningful findings if presented 5 appropriately. Thus, case studies with only one participant, or a 5 PROGRAMME OVERVIEW small group of participants, are encouraged if they are carried out and analysed in sufficient depth. This year’s symposium consists of 17 talks, based on submissions in the following categories: N Novel research findings resulting from completed empirical *P* Position papers ∗ ∗ While categories N, E and S require reporting on HRI studies studies: 5 submissions E Exploratory studies: 5 submissions or experiments, position papers can be conceptual or theoretical, ∗ ∗ P Position papers : 4 submissions providing new interpretations of known results. Also, in this cate- ∗ ∗ Y System Development: 2 submissions gory we consider papers that present new ideas without having a ∗ ∗ TG Topic Group Submissions on “Natural Interaction with Social complete study to report on. Papers in this category are judged on ∗ ∗ the soundness of the argument presented, the significance of the Robots”: 1 submission ideas and the interest to the HRI community. The talks are structured in six sessions: *R*