A Comparative Assessment of the Social Robots Blossom and Miroka using ASAQ and ASOR

Standardized evaluation methods are needed as social robots enter diverse environments. We provide benchmark data for two contrasting platforms: Blossom (handcrafted, open-source) and Miroka (commercial, ball-bot humanoid). In an online study (N = 100), participants evaluated one robot after watching a representative interaction video, completing the ASAQ (19 constructs) and ASOR (3 factors) questionnaires. Both robots showed similar evaluation profiles despite contrasting capabilities and scenarios, with moderate differences: Blossom scored higher on coherence, Miroka on attentiveness and human-like appearance. No dimensions reached statistical significance after multiple comparison correction, though effect sizes revealed meaningful perceptual patterns. This work provides the first ASAQ benchmark data for both platforms, demonstrating how multidimensional questionnaires capture user perceptions across contrasting designs in realistic contexts.