TABLE 4.

The coding scheme that was developed to analyze the behavior of participants and the robot in the experiment.

Code Category	Code
Task events	Task is running
	Object sound
Robot movement	Standing still
	Moving toward object in goal direction
	Moving toward object away from goal
	Moving toward object across field
	Moving with participant
	Moving in goal direction
Participant movement	Standing still/waiting
	Moving around robot
	Moving in goal direction*
	Moving in robot direction
	Moving across field*
Leash activity	Loose
	Stretched*
	Pulled in direction*
	Loosening/stretching
Participant location relative to robot	Behind
	In front of*
	Next to

Codes marked with a * were considered leading behavior by the participant. The presence of these codes was taken as an indication for leading behavior in all further analyses.