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This paper proposes a robot behavior notation named "Behavioral Score" and a methodology of generating "familiar" robot behavior. Behavioral Score, designed with analogies to a musical score, is an effective method of describing and controlling the expressive behavior of a robot. The effectiveness of Behavioral Score is demonstrated by a choreographed robot dance. The methodology described is based upon the hypothesis that the passive reactions of a robot produce a familiar, comfortable, imprecision in human beings. Utilizing the robot behavior for generating familiarity will facilitate human-robot symbiosis. The results of psychological experiments verifies the validity of the methodology.
Nakata et al. (Tue,) studied this question.