Various studies on autonomous robots that perform physical tasks in living environments are being conducted at present to solve the social problems of an aging society with a low birth rate. However, because it remains difficult for all robots to work autonomously in complicated environments, remote control robots may be useful for practical applications. As the purpose of remote control robots is to make direct connections between the operator and user, they may reduce affinity between the robot and the user. In this study, we define autonomous remote control robots with the aspects of both autonomy and remote operation explicitly. Affinity is compared among autonomous remote control robots, remote control robots, and autonomous robots, through controlled experiments on interactions in fetch-and-carry tasks using a domestic mobile manipulator, Human Support Robot, on a test field that is compliant with the World Robot Summit 2020 Rulebook. The results demonstrate that affinity exhibits the following order: autonomous robots, autonomous remote control robots, and remote control robots. Considering that autonomous robots remain under development, autonomous remote control robots may be beneficial for expanding the abilities of physical tasks and social acceptance. GRAPHICAL ABSTRACT

中文翻译：

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具有自主和/或远程控制的国产移动机械手在取运任务中的印象差异评估

目前正在对在生活环境中执行物理任务的自主机器人进行各种研究，以解决低出生率老龄化社会的社会问题。然而，由于所有机器人都难以在复杂的环境中自主工作，遥控机器人在实际应用中可能会有用。由于遥控机器人的目的是在操作者和用户之间建立直接联系，它们可能会降低机器人和用户之间的亲和力。在这项研究中，我们明确地定义了自主遥控机器人，同时具有自主性和远程操作性。通过对自主遥控机器人、遥控机器人和自主机器人之间的亲和力进行比较，通过使用国产移动机械手在取运任务中的交互进行受控实验，人类支持机器人，在符合 2020 年世界机器人峰会规则手册的测试场上。结果表明，亲和力表现出以下顺序：自主机器人、自主遥控机器人和遥控机器人。考虑到自主机器人仍在开发中，自主遥控机器人可能有利于扩大体力任务的能力和社会接受度。图形概要 自主遥控机器人可能有利于扩大体力任务的能力和社会接受度。图形概要 自主遥控机器人可能有利于扩大体力任务的能力和社会接受度。图形概要