  Robots are increasingly being deployed in public spaces. However, the general
population rarely has the opportunity to nominate what they would prefer or
expect a robot to do in these contexts. Since most people have little or no
experience interacting with a robot, it is not surprising that robots deployed
in the real world may fail to gain acceptance or engage their intended users.
To address this issue, we examine users' understanding of robots in public
spaces and their expectations of appropriate uses of robots in these spaces.
Furthermore, we investigate how these perceptions and expectations change as
users engage and interact with a robot. To support this goal, we conducted a
participatory design workshop in which participants were actively involved in
the prototyping and testing of a robot's behaviours in simulation and on the
physical robot. Our work highlights how social and interaction contexts
influence users' perception of robots in public spaces and how users' design
and understanding of what are appropriate robot behaviors shifts as they
observe the enactment of their designs.
