Playdough to Roombots: Towards a Novel Tangible User Interface for Self-reconfigurable Modular Robots

One of the main strengths of self-reconfigurable modular robots (SRMR) is their ability to shape-shift and dynamically change their morphology. In the case of our SRMR system “Roombots”, these shapes can be quite arbitrary for a great variety of tasks while the major utility is envisioned to be self-reconfigurable furniture. As such, the ideas and inspirations from users quickly need to be translated into the final Roombots shape. This involves a multitude of separate processes and - most importantly - requires an intuitive user interface. Our current approach led to the development of a tangible user interface (TUI) which involves 3D-scanning of a shape formed by modeling clay and the necessary steps to prepare the digitized model to be formed by Roombots. The system is able to generate a solution in less than two minutes for our target use as demonstrated with various examples.

Published in:
2018 IEEE International Conference on Robotics and Automation (ICRA), 1970-1977
Presented at:
2018 IEEE International Conference on Robotics and Automation (ICRA)
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 Record created 2019-01-11, last modified 2020-04-21

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