机器人导航与犬类福利：跨物种可读性与代理效度挑战的动物-机器交互初步研究
Robot Navigation and Canine Welfare: A Pilot Study Surfacing Challenges for Cross-Species Legibility and Proxy Validity in Animal-Machine Interaction
Haoxiang Zhang · Nancy Smith
中文摘要
自主配送机器人日益与伴侣动物共享居住空间，但导航行为的设计很少考虑动物福利。本文介绍一项初步研究，评估一种曲线绕行操作——在狗的警觉距离触发、沿侧向弧线通过的轨迹，该操作基于犬类社交沟通研究和可读运动理论，被提出为一种候选的福利导向导航干预。采用研究贯穿设计的方法，我们在自然家庭环境中与一只伴侣犬开发并评估了该设计的第一轮迭代。与假设相反，曲线绕行比直线基线引发了更严重的应激反应。我们认为，不连续的执行限制——机器人多次停止并重新定向以近似弧线——削弱了可读性，这本身成为应激源。该初步研究揭示了机器人行为在非人类眼中的可读性以及代理刺激效度，作为动物-机器交互（AMI）的结构性挑战，并为未来工作重新定位了设计问题。
关键要点
- 01问题：配送机器人导航设计很少考虑动物福利，缺乏对犬类应激反应的实证评估。
- 02方法：基于犬类社交沟通与可读运动理论，设计曲线绕行轨迹，在自然家庭环境中对伴侣犬进行首轮迭代测试。
- 03结果：曲线绕行比直线基线引发更严重的应激反应，与假设相反。
- 04局限：机器人多次停止重定向以近似弧线，不连续执行削弱可读性并成为应激源；代理刺激效度与跨物种可读性是结构性挑战。
解读
尚无解读。
原始英文摘要
arXiv:2610.40921v1 Announce Type: cross Abstract: Autonomous delivery robots increasingly share residential spaces with companion animals, yet navigation behavior is rarely designed with animal welfare in mind. This paper presents a pilot study evaluating a curve-out maneuver, a laterally arcing pass-by trajectory triggered at the dog's alert distance, proposed as a candidate welfare-informed navigation intervention grounded in canine social communication research and legible motion theory. Following a research through design approach, we developed and evaluated a first design iteration of the artifact in a naturalistic home environment with a companion dog. Contrary to our hypothesis, the curve-out produced a more acute stress response than the straight-line baseline. We argue that discontinuous execution limitation, the robot stopping and reorienting multiple times to approximate the arc, undermined legibility, which in itself became a stressor. The pilot surfaces the legibility of robot behavior to non-humans' eyes and proxy stimulus validity as structural challenges for AMI and repositions the design problem for future work.