Evaluation of Impression Difference of a Domestic Mobile Manipulator with Autonomous and/or Remote Control in Fetch-and-Carry Tasks

A single service robot can present two distinct agencies: its onboard autonomy and an operator-mediated agency, yet users experience them through one physical body. We formalize this dual-agency structure as a User-Robot-Operator triad in an autonomous remote-control setting that combines autonomous execution with remote human support. Prior to the recent surge of language-based and multimodal interfaces, we developed and evaluated an early-stage prototype in 2020 that combined natural-language text chat with freehand sketch annotations over the robot's live camera view to support remote intervention. We evaluated three modes - autonomous, remote, and hybrid - in controlled fetch-and-carry tasks using a domestic mobile manipulator (HSR) on a World Robot Summit 2020 rule-compliant test field. The results show systematic mode-dependent differences in user-rated affinity and additional insights on perceived security, indicating that switching or blending agency within one robot measurably shapes human impressions. These findings provide empirical guidance for designing human-in-the-loop mobile manipulation in domestic physical tasks.