Roaming with a Robot: Analyzing the Experiences and Understanding the Dimensions of Designing Human-Robot Walking Interactions

Paper Title

Roaming with a Robot: Analyzing the Experiences and Understanding the Dimensions of Designing Human-Robot Walking Interactions

Publication Info

• Topic area: Human-robot interaction in outdoor walking scenarios.
• Keywords: Human-robot interaction, walking companions, social robotics, proxemics, robot design, embodied interaction, robot autonomy, social perception, mindfulness, playful curiosity.

Background and Problem

• Problem / challenge: While robots are increasingly integrated into daily life, little is known about how walking with robotic companions affects human experiences, particularly in outdoor settings. Prior research has focused on utilitarian contexts like navigation and rehabilitation, leaving the subjective and social dimensions of walking companionship underexplored.
• Significance: Understanding how robots influence walking experiences is crucial for designing meaningful, comfortable, and socially attuned human-robot interactions. This knowledge can inform the development of robots as companions in everyday activities.
• Motivation and related work: Previous studies have examined walking with humans, pets, and robots in controlled environments, highlighting benefits like mindfulness and social connection. However, the human perspective on walking with robots in dynamic, outdoor settings remains insufficiently explored. This study builds on prior work by focusing on the subjective and relational aspects of human-robot walking.

Solution

• Proposed approach: A qualitative study involving nine participants walking outdoors with Boston Dynamics’ Spot robot, followed by semi-structured interviews analyzed using thematic analysis.
• Novelty:
  1. Identification of five key dimensions of human-robot walking interactions: attunement, awareness mediation, proxemics, social perception, and playful curiosity.
  2. Exploration of how walking with robots transforms walking into a co-experienced practice.
  3. Insights into the social and relational dynamics of walking with robots in public spaces.
  4. Actionable design implications for creating socially attuned robotic companions.
• Procedure and key techniques:
  1. Participants walked with the Spot robot for 20 minutes on a university campus, with the robot controlled via a Wizard-of-Oz setup.
  2. The robot exhibited behaviors like following, walking side-by-side, and leading, as well as animal-like gestures.
  3. Semi-structured interviews explored participants’ experiences, focusing on relationality, spatial dynamics, social perception, and attention.
  4. Reflexive thematic analysis was used to identify themes and dimensions.

Results

• Concrete findings:
  • Participants experienced shifts in relationality, often anthropomorphizing the robot and treating it like a pet or child.
  • Walking with the robot heightened mindfulness for some participants but distracted others from their surroundings.
  • Proxemic issues arose due to the robot’s unpredictable movements, causing discomfort and requiring adjustments in walking behavior.
  • Public attention to the robot evoked mixed feelings, ranging from pride to embarrassment and privacy concerns.
  • Participants engaged in playful exploration to understand the robot’s capabilities, reducing ambiguity and fostering familiarity.
• Advantage over baselines: The study provides a nuanced understanding of the subjective and social dimensions of walking with robots, which are often overlooked in utilitarian-focused research.
• Experiments / evaluation:
  • Participants: Nine university-affiliated individuals (ages 18–30, mixed gender).
  • Robot: Boston Dynamics’ Spot, controlled via Wizard-of-Oz.
  • Metrics: Qualitative insights from thematic analysis of interview data.
  • Procedure: 20-minute walks followed by interviews.
• Limitations and future work:
  • Limited participant diversity (young, tech-savvy university affiliates).
  • Wizard-of-Oz control may have influenced perceptions of the robot’s autonomy.
  • Short-term interaction (single 20-minute walk) limits insights into long-term companionship.
  • Future work should explore diverse participant groups, autonomous robots, and long-term interactions.

Summary

This study investigates how walking with a robotic companion, Boston Dynamics’ Spot, shapes human experiences in outdoor settings. Through thematic analysis of interviews with nine participants, the authors identified five dimensions of human-robot walking interactions: attunement, awareness mediation, proxemics, social perception, and playful curiosity. The findings reveal that walking with a robot transforms the activity into a co-experienced practice, influencing relationality, attention, and public perception. While the study highlights design implications for creating socially attuned robotic companions, it also acknowledges limitations such as participant diversity and the use of Wizard-of-Oz control. Future research should address these gaps to deepen understanding and inform the development of autonomous walking robots.