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 combines autonomous execution with remote human support. 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 freehand sketch annotations over the robot's live camera view to support remote intervention. We evaluated three modes - autonomous, remote, and hybrid - in controlled fetch-and-carry tasks using a domestic mobile manipulator (HSR) on a World Robot Summit 2020 rule-compliant test field. The results show systematic mode-dependent differences in user-rated affinity and additional insights on perceived security, indicating that switching or blending agency within one robot measurably shapes human impressions. These findings provide empirical guidance for designing human-in-the-loop mobile manipulation in domestic physical tasks.

翻译：单一服务机器人可呈现两种不同的代理机制：其搭载的自主系统与操作员中介的代理机制，然而用户通过同一物理实体体验这两种机制。我们将这种双重代理结构形式化为自主远程控制场景下的用户-机器人-操作员三元模型，该模型融合了自主执行与远程人工支持。在近期基于语言和多模态界面兴起之前，我们于2020年开发并评估了一个早期原型系统，该系统结合自然语言文本聊天与机器人实时摄像头视图上的徒手草图标注功能，以支持远程干预。我们在符合世界机器人峰会2020规则的测试场中，使用家用移动机械臂（HSR）在受控取放任务中评估了三种模式——自主模式、远程模式及混合模式。结果显示用户评价的亲密度存在系统性模式依赖差异，并获得了关于感知安全性的补充见解，表明在单一机器人内切换或融合代理机制会显著影响人类感知印象。这些发现为设计家庭物理任务中人在回路的移动操控系统提供了实证指导。