Aydoğan, ReyhanKeskin, Mehmet OnurÇakan, Umut2022-09-282022-09-282022-022168-2291http://hdl.handle.net/10679/7891https://doi.org/10.1109/THMS.2021.3121664With the improvement of intelligent systems and robotics, social robots are becoming part of our society. To accomplish complex tasks, robots and humans may need to collaborate, and when necessary, they need to negotiate with each other. While designing such socially interacting robots, it is crucial to consider human factors such as facial expression, emotions, and body language. Since gestures play a crucial role in interaction, this article studies the effect of gestures in human-robot negotiation experiments. Additionally, it compares the performance of variants of the well-known negotiation tactics (i.e., time-based and behavior-based) in automated negotiation literature in the context of human-robot negotiations. Our experimental results support the finding in automated negotiation. That is, the robot gained higher utility when it imitates its opponent's bidding strategy than employing a time-based negotiation strategy. When adopting a behavior-based technique, there is a statistically significant effect of gestures on the underlying negotiation process, and, therefore, on negotiation outcome.engrestrictedAccessarticle521415100073287990000110.1109/THMS.2021.3121664Effect of gestures in negotiationHuman-agent negotiationHuman-robot negotiation2-s2.0-85123704466