Interaction between humans and interactive robots will benefit if people have a clear mental model of the robots' intent and situation awareness. But how do we design human-robot interactions to achieve this? Previous research has shown that one can change people's mental models of robots by manipulating the robot's physical appearance, but this has often not been done in a user-centered way, i.e. that interactions are not created based on what users need and want. We tested how a participatory design method, PICTIVE, could be used to extract design ideas about how a humanoid robot could communicate intent and awareness. Five participants went through three phases: label, sketch and interview; based on eight scenarios, from the state-of-the-art tasks in the RoboCup@Home challenge. The results show that participatory design can be a suitable method to create design concepts in HRI.