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We used the Mini social robot as the device where we integrated the architecture and carried out the experimentation. The usability evaluation consisted of 30 participants interacting with the autonomous robot in 30\u00a0min sessions. Then, 19 participants evaluated their perceptions of robot attributes of the Godspeed questionnaire by playing with the robot in 30\u00a0min sessions. The participants rated the Decision-making System with excellent usability (81.08 out of 100 points), perceiving the robot as intelligent (4.28 out of 5), animated (4.07 out of 5), and likable (4.16 out of 5). However, they also rated Mini as unsafe (security perceived as 3.15 out of 5), probably because users could not influence the robot\u2019s decisions.<\/jats:p>","DOI":"10.1007\/s40747-023-01077-5","type":"journal-article","created":{"date-parts":[[2023,5,29]],"date-time":"2023-05-29T02:01:43Z","timestamp":1685325703000},"page":"6661-6679","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["A biologically inspired decision-making system for the autonomous adaptive behavior of social robots"],"prefix":"10.1007","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9576-1731","authenticated-orcid":false,"given":"Marcos","family":"Maroto-G\u00f3mez","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5189-0002","authenticated-orcid":false,"given":"\u00c1lvaro","family":"Castro-Gonz\u00e1lez","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2317-3329","authenticated-orcid":false,"given":"Mar\u00eda","family":"Malfaz","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0263-6606","authenticated-orcid":false,"given":"Miguel \u00c1ngel","family":"Salichs","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,5,29]]},"reference":[{"key":"1077_CR1","doi-asserted-by":"crossref","unstructured":"Adam C, Johal W, Pellier D et\u00a0al (2016) Social human-robot interaction: a new cognitive and affective interaction-oriented architecture. 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