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It is therefore important that people can intuitively understand the behavior of robots. Oftentimes, the behavior of people is used as a model because of its familiarity. However, it is as yet unclear what the best approach is to design interaction behaviors for non-humanoid robots. In this article, we explore two different approaches toward designing behavior for a service robot. The first concerns the commonly used approach of copying human behavior as closely as possible to the robot (\n            <jats:italic>human-translated<\/jats:italic>\n            ). The second approach was inspired by product design methods. The design of the robot's behavior was optimized for the robot's interaction capabilities and hardware modalities (\n            <jats:italic>robot-optimized<\/jats:italic>\n            ). To evaluate people's responses to the two behavior sets for a tour guide robot, an online video study (\n            <jats:italic>N<\/jats:italic>\n            = 204) and a two-day in-the-wild study (\n            <jats:italic>N<\/jats:italic>\n            &gt; 600) were performed. Results showed that participants responded slightly more positive to robot-optimized behavior and paid attention to robot-optimized behavior for longer. However, participants remembered more details when the robot showed human-translated behavior. Together, the studies show that it is sometimes better for non-humanoid robots to have robot-optimized behaviors rather than human-translated behaviors.\n          <\/jats:p>","DOI":"10.1145\/3331144","type":"journal-article","created":{"date-parts":[[2019,8,9]],"date-time":"2019-08-09T12:22:28Z","timestamp":1565353348000},"page":"1-32","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":8,"title":["Beyond R2D2"],"prefix":"10.1145","volume":"8","author":[{"given":"Daphne E.","family":"Karreman","sequence":"first","affiliation":[{"name":"Human Media Interaction, University of Twente, Enschede, The Netherlands"}]},{"given":"Geke D. 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