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Robots are increasingly being deployed in public spaces. However, the generalpopulation rarely has the opportunity to nominate what they would prefer orexpect a robot to do in these contexts. Since most people have little or noexperience interacting with a robot, it is not surprising that robots deployedin the real world may fail to gain acceptance or engage their intended users.To address this issue, we examine users' understanding of robots in publicspaces and their expectations of appropriate uses of robots in these spaces.Furthermore, we investigate how these perceptions and expectations change asusers engage and interact with a robot. To support this goal, we conducted aparticipatory design workshop in which participants were actively involved inthe prototyping and testing of a robot's behaviours in simulation and on thephysical robot. Our work highlights how social and interaction contextsinfluence users' perception of robots in public spaces and how users' designand understanding of what are appropriate robot behaviors shifts as theyobserve the enactment of their designs.

Aligning Robot's Behaviours and Users' Perceptions Through Participatory Prototyping