Advantages of Multimodal versus Verbal-Only Robot-to-Human Communication with an Anthropomorphic Robotic Mock Driver

TL;DR

This study demonstrates that multimodal communication, combining speech with gestures and gaze, enhances human understanding and interaction with robots compared to verbal-only communication.

Contribution

The paper introduces a multimodal anthropomorphic communication approach for robots, showing its effectiveness over verbal-only methods in human-robot interaction tasks.

Findings

Multimodal communication improves fixation on relevant areas.

Participants reacted faster to instructions with multimodal cues.

Enhanced engagement and social interaction observed.

Abstract

Robots are increasingly used in shared environments with humans, making effective communication a necessity for successful human-robot interaction. In our work, we study a crucial component: active communication of robot intent. Here, we present an anthropomorphic solution where a humanoid robot communicates the intent of its host robot acting as an "Anthropomorphic Robotic Mock Driver" (ARMoD). We evaluate this approach in two experiments in which participants work alongside a mobile robot on various tasks, while the ARMoD communicates a need for human attention, when required, or gives instructions to collaborate on a joint task. The experiments feature two interaction styles of the ARMoD: a verbal-only mode using only speech and a multimodal mode, additionally including robotic gaze and pointing gestures to support communication and register intent in space. Our results show that the multimodal interaction style, including head movements and eye gaze as well as pointing gestures, leads to more natural fixation behavior. Participants naturally identified and fixated longer on the areas relevant for intent communication, and reacted faster to instructions in collaborative tasks. Our research further indicates that the ARMoD intent communication improves engagement and social interaction with mobile robots in workplace settings.