{"id":"https://openalex.org/W4406824809","doi":"https://doi.org/10.1007/s12369-025-01213-w","title":"Evaluating Greeting Models for Human-Robot Engagement During First Encounters","display_name":"Evaluating Greeting Models for Human-Robot Engagement During First Encounters","publication_year":2025,"publication_date":"2025-01-25","ids":{"openalex":"https://openalex.org/W4406824809","doi":"https://doi.org/10.1007/s12369-025-01213-w"},"language":"en","primary_location":{"id":"doi:10.1007/s12369-025-01213-w","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s12369-025-01213-w","pdf_url":"https://link.springer.com/content/pdf/10.1007/s12369-025-01213-w.pdf","source":{"id":"https://openalex.org/S168738021","display_name":"International Journal of Social Robotics","issn_l":"1875-4791","issn":["1875-4791","1875-4805"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Social Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s12369-025-01213-w.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006405759","display_name":"Jo\u00e3o Avelino","orcid":"https://orcid.org/0000-0003-3678-4823"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]},{"id":"https://openalex.org/I203847022","display_name":"Instituto Polit\u00e9cnico de Lisboa","ror":"https://ror.org/04ea70f07","country_code":"PT","type":"education","lineage":["https://openalex.org/I203847022"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Jo\u00e3o Avelino","raw_affiliation_strings":["LARSYS, Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisbon, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LARSYS, Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisbon, Portugal","institution_ids":["https://openalex.org/I203847022","https://openalex.org/I141596103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102952170","display_name":"Pl\u00ednio Moreno","orcid":"https://orcid.org/0000-0002-0496-2050"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]},{"id":"https://openalex.org/I203847022","display_name":"Instituto Polit\u00e9cnico de Lisboa","ror":"https://ror.org/04ea70f07","country_code":"PT","type":"education","lineage":["https://openalex.org/I203847022"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Plinio Moreno","raw_affiliation_strings":["LARSYS, Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisbon, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LARSYS, Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisbon, Portugal","institution_ids":["https://openalex.org/I203847022","https://openalex.org/I141596103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013353538","display_name":"Filipa Correia","orcid":"https://orcid.org/0000-0002-1592-9694"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]},{"id":"https://openalex.org/I203847022","display_name":"Instituto Polit\u00e9cnico de Lisboa","ror":"https://ror.org/04ea70f07","country_code":"PT","type":"education","lineage":["https://openalex.org/I203847022"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Filipa Correia","raw_affiliation_strings":["LARSYS, Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisbon, Portugal"],"raw_orcid":"https://orcid.org/0000-0002-1592-9694","affiliations":[{"raw_affiliation_string":"LARSYS, Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisbon, Portugal","institution_ids":["https://openalex.org/I203847022","https://openalex.org/I141596103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033299020","display_name":"Leonel Garcia\u2010Marques","orcid":"https://orcid.org/0000-0003-0800-7664"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Leonel Garcia-Marques","raw_affiliation_strings":["Faculdade de Psicologia, CICPSI, Universidade de Lisboa, Lisbon, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculdade de Psicologia, CICPSI, Universidade de Lisboa, Lisbon, Portugal","institution_ids":["https://openalex.org/I141596103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052413681","display_name":"Rodrigo Ventura","orcid":"https://orcid.org/0000-0002-5655-9562"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]},{"id":"https://openalex.org/I203847022","display_name":"Instituto Polit\u00e9cnico de Lisboa","ror":"https://ror.org/04ea70f07","country_code":"PT","type":"education","lineage":["https://openalex.org/I203847022"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Rodrigo Ventura","raw_affiliation_strings":["LARSYS, Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisbon, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LARSYS, Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisbon, Portugal","institution_ids":["https://openalex.org/I203847022","https://openalex.org/I141596103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028959217","display_name":"Alexandre Bernardino","orcid":"https://orcid.org/0000-0003-3991-1269"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]},{"id":"https://openalex.org/I203847022","display_name":"Instituto Polit\u00e9cnico de Lisboa","ror":"https://ror.org/04ea70f07","country_code":"PT","type":"education","lineage":["https://openalex.org/I203847022"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Alexandre Bernardino","raw_affiliation_strings":["LARSYS, Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisbon, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LARSYS, Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisbon, Portugal","institution_ids":["https://openalex.org/I203847022","https://openalex.org/I141596103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5013353538"],"corresponding_institution_ids":["https://openalex.org/I141596103","https://openalex.org/I203847022"],"apc_list":{"value":2890,"currency":"EUR","value_usd":3690},"apc_paid":{"value":2890,"currency":"EUR","value_usd":3690},"fwci":5.1505,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.93711578,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"17","issue":"2","first_page":"297","last_page":"314"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9918000102043152,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12128","display_name":"AI in Service Interactions","score":0.9850999712944031,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6086053848266602},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5925675630569458},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5297528505325317},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4946570098400116},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4489988088607788},{"id":"https://openalex.org/keywords/mechatronics","display_name":"Mechatronics","score":0.43371888995170593},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3984578847885132},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.37529096007347107}],"concepts":[{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6086053848266602},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5925675630569458},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5297528505325317},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4946570098400116},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4489988088607788},{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.43371888995170593},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3984578847885132},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.37529096007347107}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s12369-025-01213-w","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s12369-025-01213-w","pdf_url":"https://link.springer.com/content/pdf/10.1007/s12369-025-01213-w.pdf","source":{"id":"https://openalex.org/S168738021","display_name":"International Journal of Social Robotics","issn_l":"1875-4791","issn":["1875-4791","1875-4805"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Social Robotics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s12369-025-01213-w","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s12369-025-01213-w","pdf_url":"https://link.springer.com/content/pdf/10.1007/s12369-025-01213-w.pdf","source":{"id":"https://openalex.org/S168738021","display_name":"International Journal of Social Robotics","issn_l":"1875-4791","issn":["1875-4791","1875-4805"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Social Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3594603847","display_name":"Laboratory of Robotics and Engineering Systems","funder_award_id":"UIDP/50009/2020","funder_id":"https://openalex.org/F4320334779","funder_display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia"},{"id":"https://openalex.org/G3663357362","display_name":"Laboratory of Robotics and Engineering Systems","funder_award_id":"UIDB/50009/2020","funder_id":"https://openalex.org/F4320334779","funder_display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia"},{"id":"https://openalex.org/G4693478082","display_name":null,"funder_award_id":"10.54499/UIDP/50009/2020","funder_id":"https://openalex.org/F4320334779","funder_display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia"},{"id":"https://openalex.org/G4964156841","display_name":null,"funder_award_id":"50009/2020","funder_id":"https://openalex.org/F4320334779","funder_display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia"},{"id":"https://openalex.org/G5319576419","display_name":"Healthcare Added-Value Applications of Tele-Autonomous Robots","funder_award_id":"PTDC/EEI-ROB/1155/2020","funder_id":"https://openalex.org/F4320334779","funder_display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia"},{"id":"https://openalex.org/G5454278309","display_name":null,"funder_award_id":"/2017","funder_id":"https://openalex.org/F4320334779","funder_display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia"},{"id":"https://openalex.org/G7589732169","display_name":"Robots Meet People: Socially Aware Engagement Behaviors","funder_award_id":"COVID/BD/152458/2022","funder_id":"https://openalex.org/F4320334779","funder_display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia"},{"id":"https://openalex.org/G7691279068","display_name":null,"funder_award_id":"SFRH/BD/133098/2017","funder_id":"https://openalex.org/F4320334779","funder_display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia"},{"id":"https://openalex.org/G787757375","display_name":null,"funder_award_id":"50009","funder_id":"https://openalex.org/F4320334779","funder_display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia"},{"id":"https://openalex.org/G8015936355","display_name":null,"funder_award_id":"HAVATAR-PTDC/EEI-ROB/1155/2020","funder_id":"https://openalex.org/F4320334779","funder_display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia"},{"id":"https://openalex.org/G8163902191","display_name":"Enhancing Collaborative Robots with Non-Verbal Dynamic Capabilities for Multiparty Teamwork","funder_award_id":"2022.00816.CEECIND/CP1713/CT0013","funder_id":"https://openalex.org/F4320334779","funder_display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia"}],"funders":[{"id":"https://openalex.org/F4320334779","display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","ror":"https://ror.org/00snfqn58"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4406824809.pdf","grobid_xml":"https://content.openalex.org/works/W4406824809.grobid-xml"},"referenced_works_count":41,"referenced_works":["https://openalex.org/W99964467","https://openalex.org/W182831726","https://openalex.org/W1966988118","https://openalex.org/W2000145975","https://openalex.org/W2001737341","https://openalex.org/W2024986232","https://openalex.org/W2054536061","https://openalex.org/W2096284813","https://openalex.org/W2105934661","https://openalex.org/W2113429152","https://openalex.org/W2147122006","https://openalex.org/W2151983194","https://openalex.org/W2153854971","https://openalex.org/W2316138215","https://openalex.org/W2317407941","https://openalex.org/W2338597844","https://openalex.org/W2343738098","https://openalex.org/W2419489861","https://openalex.org/W2462618649","https://openalex.org/W2528517087","https://openalex.org/W2530093645","https://openalex.org/W2564685734","https://openalex.org/W2577252425","https://openalex.org/W2591778563","https://openalex.org/W2733001972","https://openalex.org/W2755795939","https://openalex.org/W2768514369","https://openalex.org/W2781466061","https://openalex.org/W2787894218","https://openalex.org/W2805647790","https://openalex.org/W2909475206","https://openalex.org/W2909852194","https://openalex.org/W2948208238","https://openalex.org/W2964304707","https://openalex.org/W2999268482","https://openalex.org/W3004720641","https://openalex.org/W3120349130","https://openalex.org/W4200210081","https://openalex.org/W4244779655","https://openalex.org/W4248740676","https://openalex.org/W4280571816"],"related_works":["https://openalex.org/W122469368","https://openalex.org/W4238798220","https://openalex.org/W2945074068","https://openalex.org/W2475425029","https://openalex.org/W3201918386","https://openalex.org/W2495868881","https://openalex.org/W2467617359","https://openalex.org/W4252287176","https://openalex.org/W2691078541","https://openalex.org/W2490659911"],"abstract_inverted_index":{"Abstract":[0],"Engagement":[1],"during":[2,85,144],"first":[3,58,114,205],"encounters":[4,59,206],"needs":[5],"both":[6,165],"parties":[7],"to":[8,20,33,191],"comprehend":[9],"each":[10],"other\u2019s":[11],"intent":[12,32],"without":[13],"mutual":[14],"information.":[15],"A":[16],"robot":[17,179,185],"may":[18],"fail":[19],"engage":[21],"someone":[22],"because":[23,36],"people":[24],"are":[25,38],"unaware":[26],"of":[27,72,82,88,117,133,160,177],"the":[28,63,89,113,118,122,127,134,178,184],"robot\u2019s":[29],"presence":[30],"or":[31,35,126],"interact,":[34],"they":[37],"uninterested":[39],"in":[40,57,107,149,203],"interacting":[41],"with":[42,60,155],"robots.":[43,210],"In":[44],"this":[45],"paper,":[46],"we":[47,105],"compared":[48,190],"three":[49,102,115],"different":[50,151],"greeting":[51,65,74,103,136,199],"strategies":[52,104],"for":[53,207,216],"mobile":[54,208],"social":[55,209],"robots":[56],"humans":[61],"using":[62],"Kendon\u2019s":[64,119,198],"protocol,":[66],"which":[67],"was":[68],"derived":[69],"from":[70],"observations":[71],"human":[73,135],"behaviors.":[75],"The":[76,101,158],"theoretical":[77],"protocol":[78],"defines":[79],"a":[80,131,141,145],"sequence":[81],"six":[83,123,128],"phases":[84,116,124,129],"greetings:":[86],"initiation":[87],"approach,":[90,95,97],"distance":[91],"salutation,":[92],"head":[93],"dip,":[94],"final":[96],"and":[98,154,167,170,175,188],"close":[99],"salutation.":[100],"compare":[106],"our":[108],"empirical":[109],"studies":[110],"specifically":[111],"implement":[112],"model":[120,200],"(M1),":[121],"(M2),":[125],"as":[130],"response":[132],"phase":[137],"(M3).":[138],"We":[139,211],"performed":[140],"user":[142],"study":[143],"public":[146],"art":[147],"exhibition":[148],"two":[150,162],"situations:":[152],"in-the-wild":[153,218],"invited":[156],"participants.":[157],"results":[159,194],"these":[161],"experiments":[163],"combined":[164],"quantitative":[166],"qualitative":[168],"measures":[169],"support":[171,196],"that":[172,197],"people\u2019s":[173],"engagement":[174],"impressions":[176],"can":[180],"be":[181],"enhanced":[182],"when":[183],"employs":[186],"M2":[187],"M3,":[189],"M1.":[192],"Our":[193],"generally":[195],"is":[201],"effective":[202],"human-robot":[204],"also":[212],"discuss":[213],"important":[214],"considerations":[215],"running":[217],"robotic":[219],"experiments.":[220]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-13T06:13:01.061226","created_date":"2025-10-10T00:00:00"}
