Interaction Debugging: an Integral Approach to Analyze

Along with the development of interactive robots, controlled experiments and field trials are regularly conducted to stage human-robot interaction. Experience in this field has shown that analyzing human-robot interaction fosters the development of improved systems and the generation of new knowledge. In this paper, we present the interaction debugging approach, which is an integral way of analyzing human-robot interaction. It is based on the collection and analysis of data from robots and their environment. Considering the current state of robotic technology, often only audio and video are insufficient for detailed analysis of human-robot interaction. Therefore, in our analysis we combine multiple types of data including audio, video, sensor values, and intermediate variables. An important aspect of the interaction debugging approach is using a tool called Interaction Debugger to analyze data. By supporting user-friendly data presentation, annotation and navigation, Interaction Debugger enables finegrained analyses of human-robot interaction. The main goal of this paper is to address how an integral approach to the analysis of human-robot interaction can be adopted. This is demonstrated by three case studies