Our research project has achieved breakthroughs in optimizing the collaboration between humans and robots. Our work involved several key studies:1) We developed a method for improving user satisfaction in human-robot collaborative tasks by analyzing user complaints to infer and adapt the system's behavior and responsibilities. This approach led to an increase in user satisfaction during tasks involving robots and humans. Our findings were published in the 18th Symposium on Software Engineering for Adaptive and Self-Managing Systems, with the paper titled "Preference Adaptation: User Satisfaction Is All You Need!"2) In a warehouse delivery scenario, we showcased an adaptive robot controlled through Discrete Controller Synthesis. This robot was able to adjust its goals and responsibilities in real-time in response to changes in the external environment, including human workers. The results of this study were presented at the 4th IEEE International Conference on Autonomic Computing and Self-Organizing Systems, in a paper titled "Demonstration of a Real-world Self-adaptive Robot Path-finding using Discrete Controller Synthesis."23) Focusing on autonomous driving scenarios, we analyzed users' perceptual and emotional safety as a responsibility of the system in collaborative tasks. Our aim was to enhance the subjective safety of humans in these operations. This research was featured in the 23rd International Conference on Intelligent Systems Design and Applications, with the paper titled "Towards Enhancing Driver's Perceived Safety in Autonomous Driving: A Shield-based Approach."4) We also focused on Systems-of-Systems, where system architecture and environments are highly variable. By applying Discrete Controller Synthesis in Systems-of-Systems, we laid the groundwork for future research on responsibility distribution in large-scale systems. This study will be published in the 12th ACM/IEEE International Workshop on Software Engineering for Systems-of-Systems and Software Ecosystems, with the paper titled "Employing Discrete Controller Synthesis for Developing Systems-of-Systems Controllers."Overall, our project contributed to the field of human-robot collaboration by developing innovative methods for the dynamic distribution of responsibilities, enhancing user satisfaction, safety, and efficiency in various applications.