Participants rated robotic forms on three scales: perceived aggression, intelligence, and animation. The robot bodies varied along five dimensions: Types of edges (beveled or squared), method of movement (wheels, legs, spider legs, or treads), number of movement generators (2 or 4), body position (upright or down), and presence of arms (present or absent). Across ratings, movement method and presence of arms were the strongest predictors of participant perceptions. Legs and arms, both human characteristics, were associated with more positive attributions. Minimal affective characteristics, as displayed by the body design, are important in user perceptions of use and ability.
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