Abstract
In this paper, we aim to increase the understanding of human–robot interaction by considering the goal orientation displayed by the robot (i.e., competitive vs. cooperative) and the role displayed by each player (partner vs. opponent) in an entertainment group scenario. Sixty participants engaged in a card game called Sueca (two robots and two humans). Each participant played with each of the other players, and the goal orientation was manipulated by the set of verbal utterances displayed by the robot. Using a coding scheme based on Bales Interaction Process Analysis, the video-recorded interactions were analysed in terms of socioemotional positive, negative and task oriented behaviours. A marginal multilevel modelling analysis yielded significant interactions between the robotic addressee and the role the robot displayed in the socioemotional and task-oriented behaviours. Overall, our main results demonstrated the following: (1) Participants directed more behaviours towards partners than opponents, although most of these behaviours occurred between humans when they were partners. (2) When comparing players in the role of opponents, participants directed more socioemotional behaviours towards robots than towards the other human player. (3) No difference in task-oriented behaviours was observed among any of the players in this condition. These results suggest the occurrence of different behavioural patterns in competitive and collaborative interactions with robots that might be useful to inform the future development of more socially effective robots.
Similar content being viewed by others
Notes
Developed by FlashRobotics: For more information, see: https://emys.co.
Software developed by Noldus. For more information, see: https://www.noldus.com/human-behavior-research/products/the-observer-xt.
References
Ahn HS, Sa I-K, Lee D-W, Choi D (2011) A playmate robot system for playing the rock–paper–scissors game with humans. Artif Life Robot 16(2):142
Anderson CA, Morrow M (1995) Competitive aggression without interaction: effects of competitive versus cooperative instructions on aggressive behavior in video games. Pers Soc Psychol Bull 21(10):1020–1030
Arriaga P, Oliveira RA, Paiva A, Petisca S, Correia F, Alves-Oliveira P (2017) Description of the “Sueca” card game. Retrieved from https://osf.io/6jc9w/
Arriaga P, Oliveira RA, Paiva A, Petisca S, Alves-Oliveira P, Correia F (2018) Robot utterances and gaze. Retrieved from https://osf.io/q9gu5/
Axelrod RM (1997) The complexity of cooperation: agent-based models of competition and collaboration. Princeton University Press, Princeton
Aylett R (2016) Games robots play: once more, with feeling. In: D’Mello S, Graesser A, Schuller B, Martin JC (eds) Emotion in games. Springer, Berlin, pp 289–302
Bales RF (1950) Interaction process analysis: a method for the study of small groups. Addison-Wesley, Cambridge
Bales RF, Borgatta EF (1955) Size of group as a factor in the interaction profile. In: Hare AD, Borgatta EF, Bales RF (eds) Small groups: studies in social interaction. Knopf, New York, pp 396–413
Bartneck C, Kulić D, Croft E, Zoghbi S (2009) Measurement instruments for the anthropomorphism, animacy, likeability, perceived intelligence, and perceived safety of robots. Int J Soc Robot 1(1):71–81
Bartneck C, Suzuki T, Kanda T, Nomura T (2007) The influence of people’s culture and prior experiences with aibo on their attitude towards robots. AI Soc 21(1–2):217–230
Bollmann M, Hoischen R, Jesikiewicz M, Justkowski C, Mertsching B (1999) Playing domino: a case study for an active vision system. In: International conference on computer vision systems. Springer, pp 392–411
Bonta BD (1997) Cooperation and competition in peaceful societies. Psychol Bull 121(2):299
Breazeal C (2004) Social interactions in HRI: the robot view. IEEE Trans Syst Man Cybern Part C (Appl Rev) 34(2):181–186
Breazeal C, Brooks A, Gray J, Hoffman G, Kidd C, Lee H, Lieberman J, Lockerd A, Chilongo D (2004) Tutelage and collaboration for humanoid robots. Int J Humanoid Robot 1(02):315–348
Burnham T, McCabe K, Smith VL (2000) Friend-or-foe intentionality priming in an extensive form trust game. J Econ Behav Organ 43(1):57–73
Carp RA (1975) The behavior of grand juries: acquiescence or justice? Soc Sci Q 55(4):853–870
Chorney JM, McMurtry CM, Chambers CT, Bakeman R (2014) Developing and modifying behavioral coding schemes in pediatric psychology: a practical guide. J Pediatr Psychol 40(1):154–164
Correia F, Petisca S, Alves-Oliveira P, Ribeiro T, Melo FS, Paiva A (2018) “I choose... you!” membership preferences in human–robot teams. Auton Robots 43:359–373
De Cremer D, Zeelenberg M, Murnighan JK (2013) Social psychology and economics. Psychology Press, Berkeley
Eastin MS (2007) The influence of competitive and cooperative group game play on state hostility. Hum Commun Res 33(4):450–466
Fiske ST, Cuddy AJ, Glick P, Xu J (2018) A model of (often mixed) stereotype content: competence and warmth respectively follow from perceived status and competition (2002). In: Pennington DC (ed) Social cognition. Routledge, Abingdon, pp 171–222
Fong T, Nourbakhsh I, Dautenhahn K (2003) A survey of socially interactive robots. Robot Auton Syst 42(3–4):143–166
Fraune MR, Sherrin S, Sabanović S, Smith ER (2015) Rabble of robots effects: number and type of robots modulates attitudes, emotions, and stereotypes. In: Proceedings of the tenth annual ACM/IEEE international conference on human–robot interaction. ACM, pp 109–116
Fridin M (2014) Storytelling by a kindergarten social assistive robot: a tool for constructive learning in preschool education. Comput Educ 70:53–64
Fu C-H, Zhang Z-P, Chang H, Tao J-R, Chen Z-H, Dai Y-L, Zhang W, He D-R (2008) A kind of collaboration–competition networks. Physica A 387(5–6):1411–1420
Groom V, Nass C (2007) Can robots be teammates? Benchmarks in human–robot teams. Interact Stud 8(3):483–500
Grosz BJ (1996) Collaborative systems (AAAI-94 presidential address). AI Mag 17(2):67
Heck RH, Tabata L, Thomas SL (2013) Multilevel and longitudinal modeling with IBM SPSS. Routledge, Abingdon
Hendrick SS, Dicke A, Hendrick C (1998) The relationship assessment scale. J Soc Pers Relatsh 15(1):137–142
Hoffman G, Breazeal C (2004) Collaboration in human–robot teams. In: AIAA 1st intelligent systems technical conference, p 6434
Jerčić P, Wen W, Hagelbäck J, Sundstedt V (2018) The effect of emotions and social behavior on performance in a collaborative serious game between humans and autonomous robots. Int J Soc Robot 10(1):115–129
Jung MF, Martelaro N, Hinds PJ (2015) Using robots to moderate team conflict: the case of repairing violations. In: Proceedings of the tenth annual ACM/IEEE international conference on human–robot interaction. ACM, pp 229–236
Kenny DA, Mannetti L, Pierro A, Livi S, Kashy DA (2002) The statistical analysis of data from small groups. J Pers Soc Psychol 83(1):126
Kitano H, Tambe M, Stone P, Veloso M, Coradeschi S, Osawa E, Matsubara H, Noda I, Asada M (1997) The robocup synthetic agent challenge 97. In: Robot Soccer World Cup. Springer, pp 62–73
Kozar O (2010) Towards better group work: seeing the difference between cooperation and collaboration. In: English Teaching Forum, ERIC, vol 48, pp 16–23
Kuroki Y, Fujita M, Ishida T, Nagasaka K, Yamaguchi J (2003) A small biped entertainment robot exploring attractive applications. In: IEEE International conference on robotics and automation, 2003. Proceedings. ICRA’03, vol 1. IEEE, pp 471–476
Laqueur W (1978) The psychology of appeasement. Commentary 66(4):44
Larregay G, Pinna F, Avila L, Morán D (2018) Design and implementation of a computer vision system for an autonomous chess-playing robot. J Comput Sci Technol 18(01):e01–e01
Lazzaro N. Why we play games: four keys to more emotion without story
Lin P, Abney K, Bekey G (2011) Robot ethics: mapping the issues for a mechanized world. Artif Intell 175(5–6):942
Liska AE (1992) Social threat and social control. SUNY Press, Albany
Maccoby EE (1990) Gender and relationships: a developmental account. Am Psychol 45(4):513
Matsuyama Y, Bhardwaj A, Zhao R, Romeo O, Akoju S, Cassell J (2016) Socially-aware animated intelligent personal assistant agent. In: Proceedings of the 17th annual meeting of the special interest group on discourse and dialogue, pp 224–227
Moshkina L, Park S, Arkin RC, Lee JK, Jung H (2011) TAME: time-varying affective response for humanoid robots. Int J Soc Robot 3(3):207–221
Mubin O, Stevens CJ, Shahid S, Al Mahmud A, Dong J-J (2013) A review of the applicability of robots in education. J Technol Educ Learn 1(209–0015):13
Mutlu B, Osman S, Forlizzi J, Hodgins J, Kiesler S (2006) Perceptions of ASIMO: an exploration on co-operation and competition with humans and humanoid robots. In: Proceedings of the 1st ACM SIGCHI/SIGART conference on human–robot interaction. ACM, pp 351–352
Oliveira R, Arriaga P, Alves-Oliveira P, Correia F, Petisca S, Paiva A (2018) Friends or foes? Socioemotional support and gaze behaviors in mixed groups of humans and robots. In: Proceedings of the 2018 ACM/IEEE international conference on human–robot interaction. ACM, pp 279–288
Pandey AK, de Silva L, Alami R (2016) A novel concept of human–robot competition for evaluating a robot’s reasoning capabilities in HRI. In: The eleventh ACM/IEEE international conference on human robot interaction. IEEE Press, pp 491–492
Peña J, Walther JB, Hancock JT (2007) Effects of geographic distribution on dominance perceptions in computer-mediated groups. Commun Res 34(3):313–331
Pereira A, Prada R, Paiva A (2012) Socially present board game opponents. In: Nijholt A, Romão T, Reidsma D (eds) Advances in computer entertainment. Springer, Berlin, pp 101–116
Pohl H, Murray-Smith R (2013) Focused and casual interactions: allowing users to vary their level of engagement. In: Proceedings of the SIGCHI conference on human factors in computing systems. ACM, pp 2223–2232
Rossil S, Ercolano G, Raggioli L, Savino E, Ruocco M (2018) The disappearing robot: an analysis of disengagement and distraction during non-interactive tasks. In: 2018 27th IEEE international symposium on robot and human interactive communication (RO-MAN). IEEE, pp 522–527
Sheese BE, Graziano WG (2005) Deciding to defect: the effects of video-game violence on cooperative behavior. Psychol Sci 16(5):354–357
Shin E, Kwak SS, Kim MS (2008) Exploring the desirable correspondence between robot appearance and interaction types. In: The 17th IEEE international symposium on robot and human interactive communication, 2008. RO-MAN 2008. IEEE, pp 261–266
Tan Z-H, Thomsen NB, Duan X, Vlachos E, Shepstone SE, Rasmussen MH, Højvang JL (2017) isociobot: a multimodal interactive social robot. Int J Soc Robot 10:5–19
Taylor RH, Menciassi A, Fichtinger G, Fiorini P, Dario P (2016) Medical robotics and computer-integrated surgery. In: Siciliano B, Khatib O (eds) Springer handbook of robotics. Springer, Cham, pp 1657–1684
Terada K, Yamada S, Ito A (2012) Experimental investigation of human adaptation to change in agent’s strategy through a competitive two-player game. In: Proceedings of the SIGCHI conference on human factors in computing systems. ACM, pp 2807–2810
Thibaut JW (2017) The social psychology of groups. Routledge, Abingdon
Thomason J, Sinapov J, Svetlik M, Stone P, Mooney RJ (2016) Learning multi-modal grounded linguistic semantics by playing” i spy”. In: IJCAI, pp 3477–3483
Wouters P, Van Nimwegen C, Van Oostendorp H, Van Der Spek ED (2013) A meta-analysis of the cognitive and motivational effects of serious games. J Educ Psychol 105(2):249
Zeng Z, Pantic M, Huang TS (2009) Emotion recognition based on multimodal information. In: Tao J, Tan T (eds) Affective information processing. Springer, London, pp 241–265
Author information
Authors and Affiliations
Corresponding author
Ethics declarations
Conflict of interest
The authors declare that they have no conflict of interest.
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
This work was supported by national funds through Fundação para a Ciência e a Tecnologia (FCT) (FCTUID/CEC/500 21/2013), through the project AMIGOS (PTDC/EEISII/7174/2014). Filipa Correia acknowledges an FCT Grant (Ref. SFRH/BD/118031/2016). The authors are solely responsible for the content of this publication. It does not represent the opinion of the European Commission (EC), and the EC is not responsible for any use that might be made of data appearing therein.
Rights and permissions
About this article
Cite this article
Oliveira, R., Arriaga, P., Correia, F. et al. Looking Beyond Collaboration: Socioemotional Positive, Negative and Task-Oriented Behaviors in Human–Robot Group Interactions. Int J of Soc Robotics 12, 505–518 (2020). https://doi.org/10.1007/s12369-019-00582-3
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12369-019-00582-3