As time goes by: Representing and reasoning about timing in human-robot interaction studies

We summarise the experimental design issues related to timing in several human-robot interaction scenarios investigating turn-taking or synchronization between child-sized humanoid robots and human participants. Our aim¹ is not to have the humanoid robots just replicate the human's behaviours (e.g. waving, peek-a-boo, or drumming), but to engage in interactions in a socially appropriate manner. From these various studies, we have identified several ways in which time has an impact on interaction. We have also identified practical concerns about data collection for time-dependent interactions and ways to address them. The conclusions drawn from this work is likely to be useful in informing the design of systems which engage in synchronized or turn-taking interactions with people.