arXiv 2507.190822025-07-25cs.RO

Bot Appétit！通过 VR 厨房中的 Mise en Place 场景探索机器人形态如何塑造感知可供性

Bot Appétit! Exploring how Robot Morphology Shapes Perceived Affordances via a Mise en Place Scenario in a VR Kitchen

Digital Media Lab, University of Bremen（柏林布雷门大学数字媒体实验室）；Department of Linguistics, University of Bremen（柏林布雷门大学语言学系）

Rachel Ringe, Leandra Thiele, Mihai Pomarlan, Nima Zargham, Robin Nolte, Lars Hurrelbrink, Rainer Malaka

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AI总结：

本研究借助 VR 厨房备菜场景，结合布置、出声思考与问卷数据，考察机器人形态对人类空间安排、任务委派及能力感知的影响，并提出三项待验证假设。

摘要：

本研究探讨了机器人视觉设计中的哪些因素可能影响人类在协作烹饪场景中如何安置机器人，以及这些特征如何影响任务委派。人类参与者被置于虚拟现实（VR）环境中，并被要求在考虑机器人形态的同时，布置厨房以便与机器人同伴一起烹饪。我们收集了有关参与者所创建布置的多模态数据、他们执行任务时出声思考的文字记录，以及他们对结构化任务后问卷回答的文字记录。基于对这些数据的分析，我们提出了若干假设：人类更偏好与生物形态机器人协作；人类对机器人感官能力的看法，相比对行动能力的看法，较少受到机器人形态的影响；并且人类在与纤巧型机器人共享空间时，会采用更少的回避策略。我们计划在后续研究中验证这些假设。

英文摘要：

This study explores which factors of the visual design of a robot may influence how humans would place it in a collaborative cooking scenario and how these features may influence task delegation. Human participants were placed in a Virtual Reality (VR) environment and asked to set up a kitchen for cooking alongside a robot companion while considering the robot's morphology. We collected multimodal data for the arrangements created by the participants, transcripts of their think-aloud as they were performing the task, and transcripts of their answers to structured post-task questionnaires. Based on analyzing this data, we formulate several hypotheses: humans prefer to collaborate with biomorphic robots; human beliefs about the sensory capabilities of robots are less influenced by the morphology of the robot than beliefs about action capabilities; and humans will implement fewer avoidance strategies when sharing space with gracile robots. We intend to verify these hypotheses in follow-up studies.

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