{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,7,2]],"date-time":"2025-07-02T16:59:26Z","timestamp":1751475566053,"version":"3.41.0"},"reference-count":50,"publisher":"Association for Computing Machinery (ACM)","issue":"3","license":[{"start":{"date-parts":[[2025,4,18]],"date-time":"2025-04-18T00:00:00Z","timestamp":1744934400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"NSF award","award":["CMMI-2024950"],"award-info":[{"award-number":["CMMI-2024950"]}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["J. Hum.-Robot Interact."],"published-print":{"date-parts":[[2025,6,30]]},"abstract":"<jats:p>\n            In early motor interventions from clinical rehabilitation to physical activity encouragement, one major challenge is maintaining child engagement and motivation. Robots show unique promise for addressing this challenge, but providing robots with new types of autonomous functionality is vital for promoting robot integration and usefulness in the clinic and home spaces. To provide needed autonomy capabilities for GoBot, our assistive robot for child\u2013robot motion interventions, we propose a behavior tree framework. Within our framework, we build two trees: one manually designed based on expert knowledge of the child\u2013robot interaction domain, and a second automatically synthesized and requiring minimal human input and time to construct. We tested each behavior tree with\n            <jats:italic toggle=\"yes\">N<\/jats:italic>\n            = 11 children who interacted with GoBot during two behavior tree phases and a stationary-robot control phase. Our results show that both behavior tree phases tended to yield more child motion and significantly higher parent perception of child engagement, compared to the control phase. We showed that GoBot, equipped with our framework, has the potential to encourage movement and interaction in children and that a synthesized tree can be competitive with a manually designed tree. The products of this work can benefit researchers of behavior trees and child\u2013robot interaction.\n          <\/jats:p>","DOI":"10.1145\/3719018","type":"journal-article","created":{"date-parts":[[2025,2,24]],"date-time":"2025-02-24T16:00:26Z","timestamp":1740412826000},"page":"1-17","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":2,"title":["GoBot: An Autonomous Assistive Robot Using Behavior Trees to Encourage Child Mobility"],"prefix":"10.1145","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2551-6252","authenticated-orcid":false,"given":"Ameer","family":"Helmi","sequence":"first","affiliation":[{"name":"Mechanical Engineering, Oregon State University, Corvallis, Oregon, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5682-6245","authenticated-orcid":false,"given":"Emily","family":"Scheide","sequence":"additional","affiliation":[{"name":"Mechanical Engineering, Oregon State University, Corvallis, Oregon, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-1283-0776","authenticated-orcid":false,"given":"Tze-Hsuan","family":"Wang","sequence":"additional","affiliation":[{"name":"Kinesiology, Oregon State University, Corvallis, Oregon, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8153-0967","authenticated-orcid":false,"given":"Samuel W.","family":"Logan","sequence":"additional","affiliation":[{"name":"Kinesiology, Oregon State University, Corvallis, Oregon, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6502-8950","authenticated-orcid":false,"given":"Geoffrey A.","family":"Hollinger","sequence":"additional","affiliation":[{"name":"Mechanical Engineering, Oregon State University, Corvallis, Oregon, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6759-5948","authenticated-orcid":false,"given":"Naomi T.","family":"Fitter","sequence":"additional","affiliation":[{"name":"Mechanical Engineering, Oregon State University, Corvallis, Oregon, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2025,4,18]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8594083"},{"key":"e_1_3_2_3_2","first-page":"1","volume-title":"Proceedings of the IEEE Workshop Advanced Robotics and Its Social Impacts (ARSO)","author":"Boyd Janelle","year":"2017","unstructured":"Janelle Boyd, Jgenisius Harris, Michelle Smith, Sergio Garc\u00eda-Vergara, Yu-Ping Chen, Ayanna Howard. 2017. 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Logan, and Naomi T. Fitter. 2023. OverTrack: Overhead camera tracking tool for child-robot interaction. In Proceedings of the Social Robot Navigation: Advances and Evaluation Workshop, held in conjunction with the International Conference on Intelligent Robots and Systems (IROS). 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