AB - © 2016 IEEE. This paper investigates the problem of how humans understand and control human-robot collaborative action and how to build natural interactions during human-robot collaborative action. We use a 'pick and place' experiment to study collaborative activities between a human and a robot. The results show that even if human participants had a good understanding of the maximum reachability of the robot, they consistently take a surprisingly long time to help and assist the robot when a target object is out of its reach. We implemented a number of social cues in the experiment, analysed their effects in order to identify the role they could play to improve the fluency of human-robot collaboration. The experimental results showed that when the robot uses head movements, two hands or a gesture to indicate non-reachability, people react in a more natural way to assist the robot. AU - Romat, H AU - Williams, MA AU - Wang, X AU - Johnston, B AU - Bard, H DA - 2016/04/12 DO - 10.1109/HRI.2016.7451827 EP - 504 JO - ACM/IEEE International Conference on Human-Robot Interaction PY - 2016/04/12 SP - 503 TI - Natural human-robot interaction using social cues VL - 2016-April Y1 - 2016/04/12 Y2 - 2024/03/29 ER -