The emergence of robotic products that serve as automated tools, assistants, and collaborators promises tremendous benefits across a range of everyday settings from the home to manufacturing facilities. While these products promise interactions that can be far more complex than those with conventional products, their successful integration into the human environment requires these interactions to be also natural and intuitive. To achieve complex but intuitive interactions, designers and developers must simultaneously understand and address computational and human challenges. In this talk, I will present my group’s work on building human-centered guidelines, methods, and tools to address these challenges in order to facilitate the design of robotic technologies that are more effective, intuitive, acceptable, and even enjoyable. In particular, I will present a series of projects that demonstrate how a marrying of knowledge about people and computational methods can enable effective user interactions with social, assistive, and telepresence robots and the development of novel tools and methods that support complex design tasks across the key stages of analysis, synthesis, and evaluation in the design process. I will additionally present ongoing work that applies these guidelines to the development of real-world applications of robotic technology.