How should zoomorphic, or bio-inspired, robots indicate to humans that interactions will be safe and fun? Here, a survey is used to measure how human willingness to interact with a simulated butterfly robot is affected by different flight patterns. Flapping frequency, flap to glide ratio, and flapping pattern were independently varied based on a literature review of butterfly and moth flight. Human willingness to interact with these simulations and demographic information were self-reported via an online survey. Low flapping frequency and greater proportion of gliding were preferred, and prior experience with butterflies strongly predicted greater interaction willingness. The preferred flight parameters correspond to migrating butterfly flight patterns that are rarely directly observed by humans and do not correspond to the species that inspired the wing shape of the robot model. The most realistic butterfly simulations were among the least preferred. An analysis of animated butterflies in popular media revealed a convergence on slower, less realistic flight parameters. This iterative and interactive artistic process provides a model for determining human preferences and identifying functional requirements of robots for human interaction. Thus, the robotic design process can be streamlined by leveraging animated models and surveys prior to construction.

翻译：人类如何感知仿生机器人或生物启发式机器人所传递的安全与趣味互动意图？本文通过问卷调查，研究不同飞行模式对人类与模拟蝴蝶机器人互动意愿的影响。基于蝴蝶与蛾类飞行的文献综述，独立调节了扑翼频率、滑翔占比及扑翼模式三种参数。参与者通过在线问卷自我报告与这些模拟的互动意愿及人口统计学信息。结果显示：低频扑翼与更高滑翔占比更受青睐，而先前与蝴蝶的接触经验显著增强了互动意愿。受偏好的飞行参数对应于人类较少直接观察的迁徙性蝴蝶飞行模式，且与启发该机器人模型翼型的物种特征不符。最逼真的蝴蝶模拟反而最不受欢迎。对大众媒体中动画蝴蝶的分析表明，其飞行参数趋向于更缓慢、更不逼真的特征。这种迭代式的交互艺术过程为确定人类偏好及识别人机交互机器人的功能需求提供了模型。因此，在机器人实体构建前，通过利用动画模型与问卷调查可简化机器人设计流程。