Faculty of Engineering and Information Technologies, School of Aerospace, Mechanical and Mechatronic Engineering
Abstract
This thesis experimentally investigates the comfort of pairs of seated people when they are approached by a robot from different directions. While the effect of robot approach direction on the comfort of a lone person has been investigated previously, the extension to a robot approaching pairs of people has not been explored rigorously. Three maximally-different seating configurations of paired people and eight different robot approach directions were considered. The experiment was augmented with a fourth seating configuration of a lone individual, allowing the responses of grouped and lone participants to be compared. Data obtained from the experiment were analysed using both linear and directional statistics. Results from 180 unique participants showed that the comfort of a person when a robot approached is influenced by the presence and location of a second person. Analysis of these data with directional statistics showed that participant comfort preference clusters into angular regions of ‘suitable for robot approach’ and ‘unsuitable for robot approach’. This finding shows the importance of avoiding robot approach directions of low comfort, rather than selecting a singular robot approach direction of high comfort. Rayleigh’s test of uniformity, a directional statistics method, also shows across all participant configurations that robot approach directions that minimize participant discomfort align spatially with regions that allow for good line of sight of the robot by both people, and are centred on the largest open space that a robot could approach the group from. Participants who were grouped also regarded the robot as having more social agency than did lone experimental participants. Grouped participants were less frustrated with the experimental task and also found it less physically and temporally demanding in comparison to lone experimental participants
