Abstract

Special purpose service robots have already entered the market and their users’ homes. Also the idea of the general purpose service robot or personal robot companion is increasingly discussed and investigated. To probe human–robot interaction with a mobile robot in arbitrary domestic settings, we conducted a study in eight different homes. Based on previous results from laboratory studies we identified particular interaction situations which should be studied thoroughly in real home settings. Based upon the collected sensory data from the robot we found that the different environments influenced the spatial management observable during our subjects’ interaction with the robot. We also validated empirically that the concept of spatial prompting can aid spatial management and communication, and assume this concept to be helpful for Human–Robot Interaction design. In this article we report on our exploratory field study and our findings regarding, in particular, the spatial management observed during show episodes and movement through narrow passages. Keywords: COGNIRON, Domestic Service Robotics, Robot Field Trial, Human Augmented Mapping, Human–Robot Interaction, Spatial Management, Spatial Prompting