Several entertaining methods of robot engagement in urban public spaces are reviewed in this article, along with their user experiences. Following the Research-Through-Design (RtD) methodology, the design process accounted for the robot’s look as well as its interaction modes. The UEQ scale and Godspeed are tools for gauging user experience. Data analysis reveals a strong correlation between emotional involvement and both facial expression and gesture interaction, as well as between these two variables and the perception of robot intelligence. In urban public spaces, the findings of the paper show which aspects of HRI could be improved by combining various interaction approaches.