“Good robot”, “bad robot” —Analyzing users’ feedback in a human-robot teaching task

Abstract

This paper describes an experimental study in which we analyze how users give multimodal positive and negative feedback by speech, gesture and touch when teaching easy game-tasks to a pet robot. The tasks are designed to allow the robot to freely explore and provoke human reward behavior. By choosing game-based tasks, we ensure that the training can be carried out without stressing or boring the user. This way, we can observe natural, situated reward behavior.