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Its identifies individuals, estimates the exhibits at which visitors are looking, and proactively approaches them to provide explanations with gaze autonomously, using our new approach called speak-and-retreat interaction. The robot also performs such relation-building behaviors as greeting visitors by their names and expressing a friendlier attitude to repeat visitors. We conducted a field study in a science museum at which our system basically operated autonomously and the visitors responded quite positively. First-time visitors on average interacted with the robot for about 9\u00a0min, and 94.74% expressed a desire to interact with it again in the future. Repeat visitors noticed its relation-building capability and perceived a closer relationship with it.<\/jats:p>","DOI":"10.1007\/s12369-019-00587-y","type":"journal-article","created":{"date-parts":[[2019,9,13]],"date-time":"2019-09-13T13:02:52Z","timestamp":1568379772000},"page":"549-566","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":80,"title":["Human-Like Guide Robot that Proactively Explains Exhibits"],"prefix":"10.1007","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6276-3316","authenticated-orcid":false,"given":"Takamasa","family":"Iio","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Satoru","family":"Satake","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Takayuki","family":"Kanda","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kotaro","family":"Hayashi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Florent","family":"Ferreri","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Norihiro","family":"Hagita","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2019,9,13]]},"reference":[{"key":"587_CR1","unstructured":"Burgard W et al (1998) The interactive museum tour-guide robot, national conf. on artificial intelligence (AAAI1998), pp 11\u201318"},{"key":"587_CR2","doi-asserted-by":"crossref","unstructured":"Thrun S et al (1999) Minerva: a second-generation museum tour-guide robot. 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