  Robots are increasingly used in shared environments with humans, making
effective communication a necessity for successful human-robot interaction. In
our work, we study a crucial component: active communication of robot intent.
Here, we present an anthropomorphic solution where a humanoid robot
communicates the intent of its host robot acting as an "Anthropomorphic Robotic
Mock Driver" (ARMoD). We evaluate this approach in two experiments in which
participants work alongside a mobile robot on various tasks, while the ARMoD
communicates a need for human attention, when required, or gives instructions
to collaborate on a joint task. The experiments feature two interaction styles
of the ARMoD: a verbal-only mode using only speech and a multimodal mode,
additionally including robotic gaze and pointing gestures to support
communication and register intent in space. Our results show that the
multimodal interaction style, including head movements and eye gaze as well as
pointing gestures, leads to more natural fixation behavior. Participants
naturally identified and fixated longer on the areas relevant for intent
communication, and reacted faster to instructions in collaborative tasks. Our
research further indicates that the ARMoD intent communication improves
engagement and social interaction with mobile robots in workplace settings.
