对比三种控制模式，发现机器人代理方式影响用户感受。
Evaluation of Impression Difference of a Domestic Mobile Manipulator with Autonomous and/or Remote Control in Fetch-and-Carry Tasks
- 设计三类控制模式：遥控、自主、混合式远程控制
- 用户对自主模式感知更安全，对遥控模式亲和感更高
- 适合家庭服务机器人人机交互设计参考
单一服务机器人可呈现两种不同代理形态：内置自主性与操作员介入的代理，但用户仅通过同一物理机体感知。本文将这种双代理结构形式化为用户-机器人-操作员三方关系，在融合遥操作与自主执行、支持人在回路远程协助的设置中进行研究。2020年开发并评估了一个早期原型系统，结合自然语言文本聊天与基于草图的界面，支持在机器人实时摄像头画面中自由手绘标注以实现远程干预。在符合世界机器人峰会2020规则的测试场中，使用家用移动操作机器人HSR，在受控的取放任务中评估了三种模式：纯遥控、纯自主、以及混合式远程控制（代表不同自主水平）。结果表明，用户对不同模式的亲和度与感知安全性存在系统性差异，说明在同一机器人上切换或融合代理权会显著影响人类对机器人的印象。研究结果为家庭环境中人机协同移动操作的设计提供了实证依据。
原文摘要 · Abstract (English)
A single service robot can present two distinct agencies: its onboard autonomy and an operator-mediated agency, yet users experience them through one physical body. We formalize this dual-agency structure as a User-Robot-Operator triad in an autonomous remote-control setting that integrates teleoperation with autonomous execution and human-in-the-loop remote assistance. Prior to the recent surge of language-based and multimodal interfaces, we developed and evaluated an early-stage prototype in 2020 that combined natural-language text chat with a sketch-based interface enabling freehand on-image annotation over the robot's live camera view to support remote intervention. We evaluated three modes - remote control via teleoperation, autonomous control, and autonomous remote control (a hybrid mode representing different levels of autonomy) - in controlled fetch-and-carry mobile manipulation tasks using a domestic mobile manipulator, the Human Support Robot (HSR), on a World Robot Summit 2020 rule-compliant test field. The results show systematic mode-dependent differences in user-rated affinity and perceived security, indicating that switching or blending agency within one robot measurably shapes human impressions in Human-Robot Interaction (HRI). These findings provide empirical guidance for designing human-in-the-loop mobile manipulation in domestic physical tasks.
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