Paper

Anticipating the actions of others is key to coordinating joint activities. We propose the notion of anticipatory action and perception for for robots acting with humans. We describe four systems in which anticipation has been modeled for human-robot interaction; two in a teamwork setting, and two in a human-robot joint performance setting. In evaluating the effects of anticipatory agent activity, we find in one study that anticipation aids in team efficiency, as well as in the perceived commitment of the robot to the team and its contribution to the team’s fluency and success. In another study we see anticipatory action and perception affect the human partner’s sense of team fluency, the team’s improvement over time, the robot’s contribution to the efficiency and fluency, the robot’s intelligence, and the robot’s adaptation to the task. We also find that subjects working with the anticipatory robot attribute more human qualities to the robot, such as gender and intelligence.