Designing Robot Non-Verbal Behaviour: Using Performing Art Techniques as Frameworks for Human–Robot Interaction

With the growing integration of robots into daily life and work, achieving natural and efficient interaction has become a central concern in human–robot interaction (HRI). Robot behaviour design plays a key role in enabling interpretable and effective interaction. This thesis adopts a bibliometric approach to review robot behaviour research from 2005 to 2025. Results show rapid growth in publications, indicating high research activity. However, keyword and co-occurrence analyses reveal gaps. Movement as an intentional behaviour remains underexplored. Spatial relationships and orientation changes are also insufficiently studied. To address these research gaps, we introduced theories and techniques from drama and performing arts. Drawing on the practice of experienced theater practitioners, we conducted in-depth observations of human movement patterns in group interactions, extracted and developed 12 robot behaviour patterns with contextual and communicative significance. These patterns were then integrated into three quadruped robots and conducted user studies to verify their interactivity and interpretability. However, our experiments showed that, with insufficient interaction context, some participants experienced difficulty understanding the intentions displayed by the robot dog during the interaction. Additionally, we employed media tools such as video in a crowd-sourcing online survey to further examine the importance of interaction context in HRI. We asked participants to reconstruct the meanings of robot behaviours and to identify the shared contexts in which these interactions were more likely to be reinterpreted. This thesis proposes comprehensive robot behaviour modelling and validation process based on an interdisciplinary approach. It offers new theoretical perspectives and experimental methods. Robot behaviour is framed as a socially situated signal shaped by action, intention, and context. The study validates the value of performing arts in behaviour design. The proposed patterns provide interpretable and reproducible design methods. They also reflect user expectations. Furthermore, results confirm that identical behaviours may convey different meanings across contexts. Building on these insights, we have proposed a set of robot behaviour design guidelines, aiming to provide theoretical support and practical framework for a more natural, expressive, and user-centered robot behaviour design.

Name thesis:degree_name

Master of Science (MSc)

Discipline thesis:degree_discipline

Computer Science

Grantor dc:publisher.institution

Graduate Studies

Year dc:date.issued

2026

Author dc:creator

• Lian, Yichen

Advisor dc:contributor.advisor

• Sharlin, Ehud

Committee members dc:contributor.committeemember

• Sharlin, Ehud
• McKendrick, Zachary
• Nittala, Aditya Shekhar
• Jacob, Christian J.

• Human-Computer Interaction (HCI)
• Human-Robot Interaction
• Robots
• Robot Behaviours
• Robot Behaviour Interpretation
• Interaction Context
• User Study
• Interdisciplinary Methodology

Statement dc:rights

• University of Calgary graduate students retain copyright ownership and moral rights for their thesis. You may use this material in any way that is permitted by the Copyright Act or through licensing that has been assigned to the document. For uses that are not allowable under copyright legislation or licensing, you are required to seek permission.

Language dc:language.iso

en

DOI

https://dx.doi.org/10.11575/PRISM/51269

OAI identifier oai:identifier

oai:ucalgary.scholaris.ca:1880/124515