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Perception-intention-action cycle as a human acceptable way for improving human-robot collaborative tasks Domínguez Vidal, José Enrique Rodríguez Linares, Nicolás Adrián Sanfeliu Cortés, Alberto Universitat Politècnica de Catalunya. Doctorat en Automàtica, Robòtica i Visió Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents Àrees temàtiques de la UPC::Informàtica::Sistemes d'informació::Interacció home-màquina Àrees temàtiques de la UPC::Informàtica::Robòtica Human-robot interaction Physical human-robot interaction Human-robot teaming Human-in-the-loop Interacció persona-robot © ACM 2023. This is the author's version of the work. It is posted here for your personal use. Not for redistribution. The definitive Version of Record was published in HRI '23: Companion of the 2023 ACM/IEEE International Conference on Human-Robot Interaction, https://doi.org/10.1145/3568294.3580149. In Human-Robot Collaboration (HRC) tasks, the classical Perception-Action cycle can not fully explain the collaborative behaviour of the human-robot pair until it is extended to Perception-Intention-Action (PIA) cycle, giving to the human's intention a key role at the same level of the robot's perception and not as a subblock of this. Although part of the human's intention can be perceived or inferred by the other agent, this is prone to misunderstandings so the true intention has to be explicitly informed in some cases to fulfill the task. Here, we explore both types of intention and we combine them with the robot's perception through the concept of Situation Awareness (SA). We validate the PIA cycle and its acceptance by the user with a preliminary experiment in an object transportation task showing that its usage can increase trust in the robot. Peer Reviewed Postprint (author's final draft) 2023 Conference report Dominguez-Vidal, J.E.; Rodriguez, N.; Sanfeliu, A. Perception-intention-action cycle as a human acceptable way for improving human-robot collaborative tasks. A: ACM/IEEE International Conference on Human-Robot Interaction. "HRI '23: Companion of the 2023 ACM/IEEE International Conference on Human-Robot Interaction". New York: Association for Computing Machinery (ACM), 2023, p. 567-571. ISBN 978-1-4503-9970-8. DOI 10.1145/3568294.3580149. 978-1-4503-9970-8 https://www.iri.upc.edu/files/scidoc/2729-Perception-Intention-Action-Cycle-as-a-Human-Acceptable-Way-for-Improving-Human-Robot-Collaborative-Tasks.pdf https://hdl.handle.net/2117/388323 10.1145/3568294.3580149 eng https://dl.acm.org/doi/10.1145/3568294.3580149 info:eu-repo/grantAgreement/EC/H2020/101016906/EU/A Collaborative Paradigm for Human Workers and Multi-Robot Teams in Precision Agriculture Systems/CANOPIES info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/PID2019-106702RB-C21/ES/COLABORACION ROBOT-HUMANO PARA EL TRANSPORTE Y ENTREGA DE MERCANCIAS/ Open Access 5 p. application/pdf Association for Computing Machinery (ACM)