A larger audience, please! — Encouraging people to listen to a guide robot

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Abstract
Tour guidance is a common task of social robots. Such a robot must be able to encourage the participation of people who are not directly interacting with it. We are particularly interested in encouraging people to overhear its interaction with others, since it has often been observed that even people who hesitate to interact with a robot are willing to observe its activity. To encourage such participation as bystanders, we developed a robot that walks backwards based on observations of human tour guides. Our developed system uses a robust human tracking system that enables a robot to guide people by walking forward/backward and allows us to scrutinize people's behavior after the experiment. We conducted a field experiment to compare the ratios of overhearing in ¿walking forward¿ and ¿walking backward.¿ The experimental results revealed that in fact people do more often overhear the robot's conversation in the ¿walking backward¿ condition.