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This study investigated the effect of speech errors made by a robot on people's perception of the familiarity of the robot. Four types of speech errors were implemented for a communicating robot. Subjects' perception of the familiarity of the robot, along with other subjective evaluations of impressions of the robot, were measured in an experiment and compared between conditions with and without speech error. Results showed that speech error improved the familiarity score when the robot did notdoi:10.1109/roman.2015.7333630 dblp:conf/ro-man/GompeiU15 fatcat:q6mo42kzkrcjlorg2jqtakv3qu