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arXiv · 2512.24029

Evaluation of Impression Difference of a Domestic Mobile Manipulator with Autonomous and/or Remote Control in Fetch-and-Carry Tasks

Takashi Yamamoto·Hiroaki Yaguchi·Shohei Kato·Hiroyuki Okada
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Abstract

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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Takashi Yamamoto, Hiroaki Yaguchi, Shohei Kato, Hiroyuki Okada. 2026-01-04. Evaluation of Impression Difference of a Domestic Mobile Manipulator with Autonomous and/or Remote Control in Fetch-and-Carry Tasks. https://doi.org/10.1080/01691864.2020.1780152

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