Mirroring non-verbal social cues such as affect or movement can enhance human-human and human-robot interactions in the real world. The robotic platforms and control methods also impact people's perception of human-robot interaction. However, limited studies have compared robot imitation across different platforms and control methods. Our research addresses this gap by conducting two experiments comparing people's perception of affective mirroring between the iCub and Pepper robots and movement mirroring between vision-based iCub control and Inertial Measurement Unit (IMU)-based iCub control. We discovered that the iCub robot was perceived as more humanlike than the Pepper robot when mirroring affect. A vision-based controlled iCub outperformed the IMU-based controlled one in the movement mirroring task. Our findings suggest that different robotic platforms impact people's perception of robots' mirroring during HRI. The control method also contributes to the robot's mirroring performance. Our work sheds light on the design and application of different humanoid robots in the real world.

翻译：在现实世界中，镜像非语言社交线索（如情感或动作）可以增强人与人以及人与机器人之间的交互。机器人平台和控制方法也会影响人们对人机交互的认知。然而，关于不同平台和控制方法下机器人模仿行为的比较研究仍然有限。本研究通过两项实验填补了这一空白，分别比较了iCub与Pepper机器人在情感镜像方面的表现，以及基于视觉的iCub控制与基于惯性测量单元（IMU）的iCub控制在动作镜像方面的效果。我们发现，在镜像情感时，iCub机器人比Pepper机器人更具类人性；在动作镜像任务中，基于视觉控制的iCub优于基于IMU控制的iCub。研究结果表明，不同的机器人平台会影响人们对人机交互中机器人镜像行为的感知，而控制方法同样对机器人的镜像表现有贡献。本工作为不同仿人机器人在现实世界中的设计与应用提供了启示。