or even 2 armed robots, which can have up to 40 degrees of freedom, are unsuited for dynamic environments with today's technology. However lower-dimensional robots can use the potential field method to compute trajectories which avoid collisions with humans. Cognitive models and theory of mind Humans exhibit negative social and emotional responses as well as decreased trust toward some robots that closely, but imperfectly, resemble humans; this phenomenon has been termed the "Uncanny Valley." However recent research in telepresence robots has established that mimicking human body postures and expressive gestures has made the robots likeable and engaging in a remote setting. Further, the presence of a human operator was felt more strongly when tested with an android or humanoid telepresence robot than with normal video communication through a monitor. While there is a growing body of research about users' perceptions and emotions towards robots, we are still far from a complete understanding. Only additional experiments will determine a more precise model. Based on past research, we have some indications about current user sentiment and behavior around robots: During initial interactions, people are more uncertain, anticipate less social presence, and have fewer positive feelings when thinking about interacting with robots, and prefer to communicate with a human. This finding has been called the human-to-human interaction script. It has been observed that when the robot performs a proactive behaviour and does not respect a "safety distance" (by penetrating the user space) the user sometimes expresses fear. This fear response is person-dependent. It has also been shown that when a robot has no particular use, negative feelings are often expressed. The robot is perceived as useless and its presence becomes annoying. People have also been shown to attribute personality characteristics to the robot that were not implemented in software. People similarly infer the mental states of both humans and robots, except for when robots and humans use non-literal language (such as sarcasm or white lies). In line with the contact hypothesis, supervised exposure to a social robot can decrease uncertainty and increase willingness to interact with the robot, compared to pre-exposure attitudes toward robots as a class of agents. Interacting with a robot by looking at or touching the robot can reduce negative feelings that some people have about robots before interacting with them. Even imagined interaction can reduce negative feelings. However, in some cases, interacting with a robot can increase negative feelings