Robotic Improvisers: Rule-Based Improvisation and Emergent Behaviour in HRI

A key challenge in human-robot interaction (HRI) design is to create and sustain engaging social interactions. This paper argues that improvisational techniques from the performing arts can address this challenge. Contrary to the ways in which improvisation is generally used in social robotics, we propose an understanding of improvisational techniques as based on rules that shape motion choices. We claim that such an approach, represented in what we name the "external" and "emergent" perspectives on improvisation, could benefit the way in which robot movement and behaviour is designed and deployed, increasing playful engagement and responsiveness. As an example of this type of improvisation, we discuss how American dancer and choreographer William Forsythe's Improvisation Technologies could be used in an HRI context. We also report on a preliminary experimentation using a Wizard-of-Oz exploratory prototyping system and a participatory design method with professional dancers geared towards the exploration of interactive movement possibilities with a Pepperrobot. Finally, we report on how this workshop offered valuable information about the applicability of these tools, as well as reflections on how it could help increase the level of engagement in the interaction.