Welcoming Robot Behaviors for Drawing Attention

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2 Citations (Scopus)


Humans use several social cues, both verbal and nonverbal, to draw the attention of others. In this study we investigate whether similar behaviors can also be effectively used by a social robot for drawing attention. To this end, we setup a welcoming humanoid (Pepper) at the entrance of a university building. Its behaviors include one or a combination of behavioral modalities (i.e., a waving gesture, utterance and movement). These behaviors are triggered automatically based on people detection software which tracks passersby and monitors their head keypoints. Our findings imply that Pepper draws more attention when displaying a combination of modalities.

Original languageEnglish
Title of host publication2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI)
Place of PublicationPiscataway, NJ
Number of pages1
ISBN (Electronic)978-1-5386-8555-6
ISBN (Print)978-1-5386-8556-3
Publication statusPublished - 2019
Event14th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2019 - Daegu, Korea, Republic of
Duration: 11 Mar 201914 Mar 2019


Conference14th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2019
CountryKorea, Republic of


  • Drawing Attention
  • Human Robot Interaction
  • Initial Engagement
  • Robot Behaviors

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