Introduction
Transparency in the wider context of trust
A transparent robot control architecture
The impact of transparency using real-time displays
Transparency using audio : the muttering robot
The effects of appearance on transparency
Synthesis and further work
Conclusions
Appendix A : Instinct Planner command set
Appendix B : R5 robot command set
Appendix C : Instinct plan for the R5 robot
Appendix D : ABOD3 displays
Appendix E : ABOD3-AR mobile augmented reality
Appendix F : Google Forms questionnaire.