In this paper, we explore the effective social cues, behaviors, and potential interactive spaces (the proxemics) in the approach of a child-dependent robot. The proposed social trash box (STB) robot uses the above interactive social cues and vocal interactions to build a social coupling with children in order to induce their assistance in the collection of trash. We discuss the minimalist design of mechanism for the STB, as well as the effectiveness of the above factors, through an experiment which is conducted in a child-centric environment. A model-based unsupervised approach is proposed to elicit the proxemic information (interactive spaces) by considering the dynamic (i.e., the interactive distance and duration of interactions) interaction of the children.
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