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Timing of multimodal robot behaviors during human-robot collaboration

In this paper, we address issues of timing between robot behaviors in multimodal human-robot interaction. In particular, we study what effects sequential order and simultaneity of robot arm and body movement and verbal behavior have on the fluency of interactions. In a study with the Care-O-bot, a large service robot, in a medical measurement scenario, we compare the timing of the robot's behaviors in three between-subject conditions. The results show that the relative timing of robot behaviors has significant effects on the number of problems participants encounter, and that the robot's verbal output plays a special role because participants carry their expectations from human verbal interaction into the interactions with robots.