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Service robots for the domestic environment are intended to autonomouslyprovide support for their users. However, state-of-the-art robots still oftenget stuck in failure situations leading to breakdowns in the interaction flowfrom which the robot cannot recover alone. We performed a multi-userWizard-of-Oz experiment in which we manipulated the robot's behavior in such away that it appeared unexpected and malfunctioning, and asked participants tohelp the robot in order to restore the interaction flow. We examined howparticipants reacted to the robot's error, its subsequent request for help andhow it changed their perception of the robot with respect to perceivedintelligence, likability, and task contribution. As interaction scenario weused a game of building Lego models performed by user dyads. In total 38participants interacted with the robot and helped in malfunctioning situations.We report two major findings: (1) in user dyads, the user who gave the lastcommand followed by the user who is closer is more likely to help (2)malfunctions that can be actively fixed by the user seem not to negativelyimpact perceived intelligence and likability ratings. This work offers insightsin how far user support can be a strategy for domestic service robots torecover from repeating malfunctions.

Help, Anyone? A User Study For Modeling Robotic Behavior To Mitigate Malfunctions With The Help Of The User