We conducted a pilot experiment to examine the potential of a communication robot for supporting verbal interaction among adolescents with autism spectrum disorders (ASD) and their caregivers. Three teenagers with ASD indirectly conversed with their teacher via a desktop humanoid robot for around 40 min on average per day. In this situation, they showed some positive tendencies such as non-echolalic responses and talk about problems related to human relationships; they had not shown such tendencies before when they directly talked with their teacher in their daily life. During the trials, they also showed changes in their attitudes toward their teachers and friends; this implies that individuals with ASD could use their experience of communication with a robot for communication with a human. A quantitative analysis of the utterances in the trials suggested that reduced utterances from a caregiver might positively influence individuals with ASD toward sharing more information.