Takayuki Kanda
Biographic Data
| ID | 1464310 |
|---|---|
| NAME | Takayuki Kanda |
| GIVEN NAMES | Takayuki |
| FAMILY NAME | Kanda |
| SIGNATURE | KANDA T |
| AFFILIATIONS | Kyoto University |
| ORCID | 0000-0002-9546-5825 |
| VERIFIED | Yes |
| TOTAL WORKS | 66 |
| TOTAL CITATIONS | 644 |
| AUTHOR COUNT | 66 |
| EDITOR COUNT | 0 |
| FIRST PUBLICATION YEAR | 2004 |
| LATEST PUBLICATION YEAR | 2026 |
| H-INDEX | 10 |
Exploration of Pointing Forms in Customer–Shopkeeper Interactions
To investigate the use of different pointing forms in service scenarios, we collected the ShopPoint dataset, a skeleton-based dataset of pointing gestures from customer–shopkeeper interactions in a camera shop scenario. Thirteen participants took part in the data collection, including 3 shopkeepers with real-world customer service experience and 10 customers. We recorded 61 one-to-one role-played interactions. Coders annotated pointing gestures f…
Designing Authoritative Presence in Social Robots
We define authoritative presence as letting people experience authority through human-made technology in sensory or non-sensory ways. Our goal is to design a robot that creates the impression of possessing capabilities worthy of respect as a source of authority, thereby enhancing compliance without attributing that authority to external sources, such as a specific person or organization. We hypothesized that strategies commonly used in the Wizard…
“Wow, You’re Really the Champion of the ‘Resting Competition’, Huh?!”
Irony can have remarkable positive effects on human behavior. However, those effects depend on the appropriate use of irony. Existing theoretical frameworks in psychology and sociology discuss the use of irony, including its effects on emotional states and behaviors. However, these frameworks often rely on subjective intuition, rendering them impractical for robotic systems. Additionally, our investigation of prior research in human-robot interac…
Human Perception of a Robot as an Authority Figure
We explored whether and how individuals attribute authority to a robot. Online participants ( N = 362 Japanese adults) received short videos showing a social interaction between a group of three human actors and a lone agent. Crucially, in the videos, the group interacted with a robot or a fourth human actor. The group bowed deeply for the lone agent. After each video, participants were asked to say to what extent the lone agent can be described …
How Can Robots Acquire Venue-Specific Social Strategies? The Case of Robot Clerks Learning Sales Negotiations
Social robots are gradually being integrated into diverse social spheres, assuming multifaceted roles such as store clerks. Many of the interactive tasks entrusted to these robots are intricate, requiring more than simply responding to requests, and thus are not easily preprogrammed. One such task is sales negotiation. Empowering robots with negotiation skills is challenging due to the nuanced, context-dependent nature of effective tactics, which…
Assessing Group Openness in Human–Human Interactions from Skeleton Data
We propose a method to automatically assess group openness by observing interactions within socially occupied spaces. Openness refers to a group’s predisposition to allow external parties to join a social encounter. Robots need the capability of assessing openness to ensure social comfort and improve first impressions, saving time and resources by avoiding unwelcomed interactions. We extract social signals from gestures, posture, space and conste…
Effects of Human Operator’s Embodiment on Approaching Stranger Behavior
This study investigates how different forms of operator embodiment (avatar robots, telepresence robots, and direct in-person interaction) affect people’s willingness and ability to approach and initiate social interactions with strangers in public spaces. Participants were tasked with distributing information to pedestrians in a shopping mall across the three embodiment conditions. We examined behavioral performance (e.g., frequency of approaches…
Online Continual Learning for Automatic Error Prevention in Data-Driven HRI
Data-driven social imitation learning is a minimally supervised approach to generating robot behaviors for human–robot interaction (HRI). However, like any learning-based approach, there are inherent challenges and potential errors. Existing strategies for error prevention in HRI predominantly rely on handcrafted methods and predefined design guidelines, with limited focus on learning-based approaches. In this article, we present an autonomous, o…
Investigation of Low-Moral Actions by Malicious Anonymous Operators of Avatar Robots
Avatar robots allow a teleoperator to interact with the people and environment of a remote place. Malicious operators can use this technology to perpetrate malicious or low-moral actions. In this study, we used hazard identification workshops to identify low-moral actions that are possible through the locomotor movement, cameras, and microphones of an avatar robot. We conducted three workshops, each with four potential future users of avatars, to…
Development and Validation of Moral Concern for Robot Scale (MCRS)
This study discusses the moral concern exhibited toward the robots that are being introduced into society. Although much debate has focused on whether robots should be granted moral status, some of us do show concern for them as moral patients. We conducted three surveys in creating and validating a new scale called Moral Concern for Robot Scale (MCRS), designed to measure such concern. In Study 1, we created an initial version of MCRS, confirmed…
Expressing Anger with Robot for Tackling the Onset of Robot Abuse
Service robots in public spaces can sometimes become victims of ‘abuse’, manifesting as persistent blocking of the robot’s path, physical violence such as pushing or pulling, or abusive language. This kind of abuse can be a serious obstacle to the deployment of robots. We studied the possibility of mitigating obstructive behaviour towards the robot, which is known to happen in the early stages of robot abuse, by having the robot express anger-lik…
Meet the Motivational Robot That Predicts Your Future Feelings
This study explores the potential benefits of robots having the capability to anticipate people’s mental states in an exercise context. We designed 80 utterances for a robot with associated gestures that exhibit a range of emotional characteristics and then performed a 23-person data collection to investigate the effects of these robot behaviors on human mental states during exercise. The results of cluster analysis revealed that (1) utterances w…
Cross-cultural moral judgments and emotions in preschoolers
The study aims to investigate the effect of cultural background between Italy and Japan on 5-year-old children’s moral judgements and emotion attributions towards human and robot. The children watched videos drawn from classic ‘happy victimizer’ stories, in which the transgressors were either a child or a robot, violating rules against stealing or not sharing. We assessed the children’s attribution of emotions both to the transgressors and to the…
Simulation-Based Machine Learning for Detection of Rarely Occurring Behaviors Based on Human Trajectories
This study focuses on the identification of rarely occurring human behaviors that could pose a potential security threat in public spaces, especially relevant to autonomous robotic bodyguards. The goal is to develop machine learning models capable of recognizing behaviors indicative of hostile intent. Rarely occurring behaviors in this context refer to unusual movement patterns, such as loitering with suspicious intent, sudden directional changes…
How Should a Robot do Indirect Handovers Politely
In this work, we studied the action of a robot handing over an object to a human. We focused on indirect handovers, where the robot does not pass the object directly into the human’s hand, but instead puts it down somewhere in the person’s vicinity where they can easily pick it up. In particular, we were interested in understanding what makes an indirect handover perceived as polite. Based on an in-lab collection of data from experienced waiters …
Effortless Polite Telepresence using Intention Recognition
Telepresence technology creates the opportunity for people that were traditionally left out of the workforce to work remotely. In the service industry, a pool of novice remote workers could teleoperate robots to perform short work stints to fill in the gaps left by the dwindling workforce. A hurdle is that consistently talking appropriately and politely imposes a severe mental burden on such novice operators and the quality of the service may suf…
Field Trial of a Queue-Managing Security Guard Robot
We developed a security guard robot that is specifically designed to manage queues of people and conducted a field trial at an actual public event to assess its effectiveness. However, the acceptance of robot instructions or admonishments poses challenges in real-world applications. Our primary objective was to achieve an effective and socially acceptable queue-management solution. To accomplish this, we took inspiration from human security guard…
Qualitative Research of Robot-Helping Behaviors in a Field Trial
During the previous field study with a robot and its interaction with mall visitors, we observed a surprising event during which a leaflet-distributing robot was abused, although it was subsequently helped by one of its previous abusers. After analyzing 72.25 hours of video data, we identified 47 cases where a robot dropped a leaflet and classified them according to following three criteria: 1) interaction between the potential helper or others w…
Shared Knowledge in Human-Robot Interaction (HRI)
According to the Theory of Natural Pedagogy, object-directed emotion may provide different information depending on the context: in a communicative context, the information conveys culturally shared knowledge regarding the emotional valence of an object and is generalizable to other individuals, whereas, in a non-communicative context, information is interpreted as a subjective disposition of the person expressing the emotion, i.e., personal pref…
Robots as moral environments
Process of Escalating Robot Abuse in Children
Infants’ Prediction of Humanoid Robot’s Goal-Directed Action
Several studies have shown that infants anticipate human goal-directed actions, but not robot’s ones. However, the studies focusing on the robot goal-directed actions have mainly analyzed the effect of mechanical arms on infant’s attention. To date, the prediction of goal-directed actions in infants has not yet been studied when the agent is a humanoid robot. Given this lack of evidence in infancy research, the present study aims at analyzing inf…
Stop Ignoring Me! On Fighting the Trivialization of Social Robots in Public Spaces
Service and social robot in public scenarios will face various tasks in future applications, such as guiding people or admonishing them to provide assistance or convey social norms. Robots in public spaces might also incorporate roles of authority figures who might admonish people (e.g., security or guard robots). However, recent investigations showed that people ignore the admonishment of robots. Thus, in this work, we are looking at the reasons…
Influence of Social Anxiety on People's Preferences for Robots as Daily Life Communication Partners Among Young Japanese
This study investigates whether people prefer robots versus humans as communication partners for different roles and situations in daily life, and the influence of social anxiety on people's preferences for robots versus humans among young Japanese. A total of 206 young Japanese (men: 103, women: 103; mean age: 25.2 years, SD = 2.91 years, range: 20–29 years) participated in an online survey and completed items assessing the participants' prefere…
Data-Driven Imitation Learning for a Shopkeeper Robot with Periodically Changing Product Information
Data-driven imitation learning enables service robots to learn social interaction behaviors, but these systems cannot adapt after training to changes in the environment, such as changing products in a store. To solve this, a novel learning system that uses neural attention and approximate string matching to copy information from a product information database to its output is proposed. A camera shop interaction dataset was simulated for training/…
Interactive Robots as Social Partners and Peer Tutors for Children
Robots increasingly have the potential to interact with people in daily life. It is believed that, based on this ability, they will play an essential role in human society in the not-so-distant future. This article examined the proposition that robots could form relationships with children and that children might learn from robots as they learn from other children. In this article, this idea is studied in an 18-day field trial held at a Japanese …
Experimental investigation into influence of negative attitudes toward robots on human–robot interaction
The influence of people’s culture and prior experiences with Aibo on their attitude towards robots
Robovie, you'll have to go into the closet now
Children will increasingly come of age with personified robots and potentially form social and even moral relationships with them. What will such relationships look like? To address this question, 90 children (9-, 12-, and 15-year-olds) initially interacted with a humanoid robot, Robovie, in 15-min sessions. Each session ended when an experimenter interrupted Robovie's turn at a game and, against Robovie's stated objections, put Robovie into a cl…
Does the Design of a Robot Influence Its Animacy and Perceived Intelligence
Robots exhibit life-like behavior by performing intelligent actions. To enhance human-robot interaction it is necessary to investigate and understand how end-users perceive such animate behavior. In this paper, we report an experiment to investigate how people perceived different designs of robot embodiments in terms of animacy and intelligence. iCat and Robovie II were used as the two embodiments in this experiment. We conducted a between-subjec…
Can a Social Robot Stimulate Science Curiosity in Classrooms
Robovie as a Mascot
Cooperative embodied communication emerged by interactive humanoid robots
Field Trial of a Networked Robot at a Train Station
How Quickly Should a Communication Robot Respond? Delaying Strategies and Habituation Effects
A Robot Is Not Worth Another
Recent technological developments in robotics has driven the design and production of different humanoid robots. Several studies have highlighted that the presence of human-like physical features could lead both adults and children to anthropomorphize the robots. In the present study we aimed to compare the attribution of mental states to two humanoid robots, NAO and Robovie, which differed in the degree of anthropomorphism. Children aged 5, 7, a…
Human-Like Guide Robot that Proactively Explains Exhibits
We developed an autonomous human-like guide robot for a science museum. Its identifies individuals, estimates the exhibits at which visitors are looking, and proactively approaches them to provide explanations with gaze autonomously, using our new approach called speak-and-retreat interaction. The robot also performs such relation-building behaviors as greeting visitors by their names and expressing a friendlier attitude to repeat visitors. We co…
Measuring Communication Participation to Initiate Conversation in Human–Robot Interaction
Questionnaire-based social research on opinions of Japanese visitors for communication robots at an exhibition
Rapport–Expectation with a Robot Scale
Humanoid Robots as a Broadcasting Communication Medium in Open Public Spaces
Guidelines for Contextual Motion Design of a Humanoid Robot
Will Older Adults Accept a Humanoid Robot as a Walking Partner
Personal Greetings
Influences of Evaluation and Gaze from a Robot and Humans’ Fear of Negative Evaluation on Their Preferences of the Robot
Designing Enjoyable Motion-Based Play Interactions with a Small Humanoid Robot
Studying laughter in combination with two humanoid robots
Curiosity Did Not Kill the Robot
Learning from human interaction data is a promising approach for developing robot interaction logic, but behaviors learned only from offline data simply represent the most frequent interaction patterns in the training data, without any adaptation for individual differences. We developed a robot that incorporates both data-driven and interactive learning. Our robot first learns high-level dialog and spatial behavior patterns from offline examples …
A Model for Generating Socially-Appropriate Deictic Behaviors Towards People
Cooperative embodied communication emerged by interactive humanoid robots
Interactive Robots as Social Partners and Peer Tutors for Children
Robots increasingly have the potential to interact with people in daily life. It is believed that, based on this ability, they will play an essential role in human society in the not-so-distant future. This article examined the proposition that robots could form relationships with children and that children might learn from robots as they learn from other children. In this article, this idea is studied in an 18-day field trial held at a Japanese …
Experimental investigation into influence of negative attitudes toward robots on human–robot interaction
Measurement of negative attitudes toward robots
A great deal of research has been performed recently on robots that feature functions for communicating with humans in daily life, i.e., communication robots. We consider it important to develop methods to measure humans’ attitudes and emotions that may prevent them from interaction with communication robots, as indices to study short-term and long-term interaction between humans and communication robots. This study is aimed at exploring the infl…
The influence of people’s culture and prior experiences with Aibo on their attitude towards robots
Questionnaire-based social research on opinions of Japanese visitors for communication robots at an exhibition
A Two-Month Field Trial in an Elementary School for Long-Term Human–Robot Interaction
Interactive robots participating in our daily lives should have the fundamental ability to socially communicate with humans. In this paper, we propose a mechanism for two social communication abilities: forming long-term relationships and estimating friendly relationships among people. The mechanism for long-term relationships is based on three principles of behavior design. The robot we developed, Robovie, is able to interact with children in th…
Prediction of Human Behavior in Human--Robot Interaction Using Psychological Scales for Anxiety and Negative Attitudes Toward Robots
When people interact with communication robots in daily life, their attitudes and emotions toward the robots affect their behavior. From the perspective of robotics design, we need to investigate the influences of these attitudes and emotions on human-robot interaction. This paper reports our empirical study on the relationships between people's attitudes and emotions, and their behavior toward a robot. In particular, we focused on negative attit…
How to Build an Intentional Android
This study examined whether young children are able to imitate a robot's goal‐directed actions. Children (24–35 months old) viewed videos showing a robot attempting to manipulate an object (e.g., putting beads inside a cup) but failing to achieve its goal (e.g., beads fell outside the cup). In 1 video, the robot made eye contact with a human before and after it failed the action. In another video, the robot did not make eye contact with the human…
Humanoid Robots as a Broadcasting Communication Medium in Open Public Spaces
Does the Design of a Robot Influence Its Animacy and Perceived Intelligence
Robots exhibit life-like behavior by performing intelligent actions. To enhance human-robot interaction it is necessary to investigate and understand how end-users perceive such animate behavior. In this paper, we report an experiment to investigate how people perceived different designs of robot embodiments in terms of animacy and intelligence. iCat and Robovie II were used as the two embodiments in this experiment. We conducted a between-subjec…
How Quickly Should a Communication Robot Respond? Delaying Strategies and Habituation Effects
Studying laughter in combination with two humanoid robots
Field Trial of a Networked Robot at a Train Station
Robovie, you'll have to go into the closet now
Children will increasingly come of age with personified robots and potentially form social and even moral relationships with them. What will such relationships look like? To address this question, 90 children (9-, 12-, and 15-year-olds) initially interacted with a humanoid robot, Robovie, in 15-min sessions. Each session ended when an experimenter interrupted Robovie's turn at a game and, against Robovie's stated objections, put Robovie into a cl…
Guidelines for Contextual Motion Design of a Humanoid Robot
Designing Enjoyable Motion-Based Play Interactions with a Small Humanoid Robot
Towards a Socially Acceptable Collision Avoidance for a Mobile Robot Navigating Among Pedestrians Using a Pedestrian Model
Influences of Evaluation and Gaze from a Robot and Humans’ Fear of Negative Evaluation on Their Preferences of the Robot
Building a Model of the Environment from a Route Perspective for Human–Robot Interaction
Capturing Expertise
Robovie as a Mascot
Rapport–Expectation with a Robot Scale
Measuring Communication Participation to Initiate Conversation in Human–Robot Interaction
Can a Social Robot Stimulate Science Curiosity in Classrooms
Robot (58 works) · Computer Science (57 works) · Social Robot Interaction and HRI (54 works) · Artificial Intelligence (51 works) · Psychology (47 works) · Human–computer interaction (42 works) · Robotics (21 works) · Human–robot interaction (20 works) · Humanoid robot (18 works) · AI in Service Interactions (17 works)