A single service robot can present two distinct agencies: its onboard autonomy and an operator-mediated agency, yet users experience them through one physical body. We formalize this dual-agency structure as a User-Robot-Operator triad in an autonomous remote-control setting that integrates teleoperation with autonomous execution and human-in-the-loop remote assistance. Prior to the recent surge of language-based and multimodal interfaces, we developed and evaluated an early-stage prototype in 2020 that combined natural-language text chat with a sketch-based interface enabling freehand on-image annotation over the robot's live camera view to support remote intervention. We evaluated three modes - remote control via teleoperation, autonomous control, and autonomous remote control (a hybrid mode representing different levels of autonomy) - in controlled fetch-and-carry mobile manipulation tasks using a domestic mobile manipulator, the Human Support Robot (HSR), on a World Robot Summit 2020 rule-compliant test field. The results show systematic mode-dependent differences in user-rated affinity and perceived security, indicating that switching or blending agency within one robot measurably shapes human impressions in Human-Robot Interaction (HRI). These findings provide empirical guidance for designing human-in-the-loop mobile manipulation in domestic physical tasks.

翻译：单个服务机器人可呈现两种不同的代理机制：其搭载的自主性及操作者介入的代理机制，然而用户通过同一物理实体感知这两种机制。我们将这种双重代理结构形式化为用户-机器人-操作者三元组，构建了一种融合遥操作与自主执行、人在回路远程协助的自主远程控制框架。在基于语言与多模态界面兴起之前，我们于2020年开发并评估了早期原型系统，该系统结合自然语言文本聊天与草图交互界面，支持用户在机器人实时摄像画面中进行自由手绘标注以实现远程干预。我们采用符合世界机器人峰会2020规则标准的测试场地，使用家用移动机械臂Human Support Robot（HSR），在受控的取放移动操作任务中评估了三种模式：遥操作远程控制、自主控制及自主远程控制（代表不同自主层级的混合模式）。结果显示，用户评价的亲密度与感知安全性存在系统性模式依赖差异，表明在单机器人内部切换或融合代理机制会显著影响人机交互中的人类感知。这些发现为设计家庭物理任务中人在回路的移动操作提供了实证依据。