Abstract

A robot that is easy to teach not only has to be able to adapt to humans but also has to be easily adaptable to. In order to develop a robot with mutual adaptation ability, we believe that it will be beneficial to first observe the mutual adaptation behaviors that occur in human–human communication. In this paper, we propose a human–human WOZ (Wizard-of-Oz) experiment setting that can help us to observe and understand how the mutual adaptation procedure occurs between human beings in nonverbal communication. By analyzing the experimental results, we obtained three important findings: alignment-based action, symbol-emergent learning, and environmental learning