Recently the field of Human-Robot Interaction gained popularity, due to the wide range of possibilities of how robots can support humans during daily tasks. One form of supportive robots are socially assistive robots which are specifically built for communicating with humans, e.g., as service robots or personal companions. As they understand humans through artificial intelligence, these robots will at some point make wrong assumptions about the humans' current state and give an unexpected response. In human-human conversations, unexpected responses happen frequently. However, it is currently unclear how such robots should act if they understand that the human did not expect their response, or even showing the uncertainty of their response in the first place. For this, we explore the different forms of potential uncertainties during human-robot conversations and how humanoids can, through verbal and non-verbal cues, communicate these uncertainties.

翻译：近年来，由于机器人在日常任务中支持人类的广泛可能性，人机交互领域逐渐获得关注。一类支持型机器人是社会辅助机器人，它们专门用于与人类交流，例如作为服务机器人或个人伴侣。由于这些机器人通过人工智能理解人类，它们有时会对人类的当前状态做出错误假设，并给出意想不到的回应。在人际对话中，意外回应频繁发生。然而，目前尚不清楚，当机器人意识到人类未预料到其回应，甚至一开始就表现出回应不确定性时，它们应如何行动。为此，我们探索了人机对话中潜在不确定性的不同表现形式，以及人形机器人如何通过言语和非言语线索传达这些不确定性。