Human-Quadruped Robot Interaction: Trust and Perceptions under Teleoperated and Semi-Autonomous Control

Abstract

Understanding human perceptions of quadruped robots is essential for their successful integration into public environments. While substantial human-robot interaction (HRI) research focuses on humanoid robots, research on humanquadruped robot interaction is limited. This study examines how control type, movement speed, and individual differences measured via GAToRS affect human trust and perceptions of intelligence, safety, and autonomy in a quadruped robot (Unitree B1). Using a $2 \times 2$ within-subjects experiment $(n{=}$ 31), we systematically compared two different control models, i.e., semi-autonomous and teleoperated systems, at both slow and fast speeds. Participants engaged in a room cleanup task with the robot acting as an assistive carrier. Results showed that the initial personal attitude toward robots greatly affected participants' responses, showing strong effects on all measures. Even when controlling for the attitude effects, the teleoperated conditions scored significantly higher in trust, intelligence, and autonomy measures, while safety differences were not statistically significant. Speed had significant effects on trust and perceived intelligence, with the slower speed rated more positively. This is further supported by the heart rate data collected throughout the experiment, which aligned with trust, intelligence, and autonomy scores. Results provide design implications for quadruped robot deployment in cooperative settings.