As robots enter everyday spaces like offices, the sounds they create affect how they are perceived. We present Music Mode, a novel mapping between a robot's joint motions and sounds, programmed by artists and engineers to make the robot generate music as it moves. Two experiments were designed to characterize the effect of this musical augmentation on human users. In the first experiment, a robot performed three tasks while playing three different sound mappings. Results showed that participants observing the robot perceived it as more safe, animate, intelligent, anthropomorphic, and likable when playing the Music Mode Orchestra software. To test whether the results of the first experiment were due to the Music Mode algorithm, rather than music alone, we conducted a second experiment. Here the robot performed the same three tasks, while a participant observed via video, but the Orchestra music was either linked to its movement or random. Participants rated the robots as more intelligent when the music was linked to the movement. Robots using Music Mode logged approximately two hundred hours of operation while navigating, wiping tables, and sorting trash, and bystander comments made during this operating time served as an embedded case study. This paper has both designerly contributions and engineering contributions. The contributions are: (1) an interdisciplinary choreographic, musical, and coding design process to develop a real-world robot sound feature, (2) a technical implementation for movement-based sound generation, and (3) two experiments and an embedded case study of robots running this feature during daily work activities that resulted in increased likeability and perceived intelligence of the robot.

翻译：随着机器人进入办公室等日常空间，其产生的声音会影响人们对它的感知。我们提出"音乐模式"（Music Mode）——由艺术家与工程师协同编程实现的新型映射机制，能将机器人的关节运动转化为音乐，使其在移动时生成旋律。为表征这种音乐增强对人类用户的影响，我们设计了两组实验。第一组实验中，机器人执行三项任务并播放三种不同的声音映射方案。结果显示，当机器人播放"音乐模式管弦乐"（Music Mode Orchestra）软件时，观察者认为它更安全、更具生命力、更智能、更拟人化且更讨人喜爱。为验证第一组实验效果源于音乐模式算法本身而非单纯音乐存在，我们开展了第二组实验：机器人执行相同三项任务（参与者通过视频观察），但管弦乐音乐与机器人运动要么同步关联，要么随机播放。参与者对音乐与运动关联的机器人智能评分更高。采用音乐模式的机器人在导航、擦拭桌面和垃圾分类过程中累积运行约两百小时，期间旁观者的即时反馈构成了嵌入式案例研究。本文兼具设计学与工程学贡献，具体包括：(1) 跨学科编排、音乐创作与编程设计流程（用于开发实际机器人声音功能），(2) 基于运动的实时声音生成技术实现方案，(3) 两项实验及一项机器人在日常工作中运行该功能的嵌入式案例研究，证实该功能提升了机器人的好感度与感知智能。