  We investigated how a robot moving with different velocity profiles affects a
person's perception of it when working together on a task. The two profiles are
the common linear profile and a profile based on the animation principles of
slow in, slow out. The investigation was accomplished by running an experiment
in a home context where people and the robot cooperated on a clean-up task. We
used the Godspeed series of questionnaires to gather people's perception of the
robot. Average scores for each series appear not to be different enough to
reject the null hypotheses, but looking at the component items provides paths
to future areas of research. We also discuss the scenario for the experiment
and how it may be used for future research into using animation techniques for
moving robots and improving the legibility of a robot's locomotion.
