Fable: Design of a modular robotic playware platform

Abstract

Abstract-We are developing the Fable modular robotic system as a playware platform that will enable non-expert users to develop robots ranging from advanced robotic toys to robotic solutions to problems encountered in their daily lives. This paper presents the mechanical design of Fable: a chain-based system composed of reconfigurable heterogeneous modules with a reliable and scalable connector. Furthermore, this paper describes tests where the connector design is tested with children, and presents examples of a moving snake and a quadruped robot, as well as an interactive upper humanoid torso.

Fable II: Design of a modular robot for creative learning

“…This section provides an overview of the design of our second version of the Fable system, details about the first version can be found in our previous work [21], [22], [23].…”

Playte, a tangible interface for engaging human-robot interaction

“…In future work we will port the Playte to our educational modular robotics system [16], [7] in order to analyze the different interactions modes on a modular robot that enables the children to create their own robots. Further, we will add visual programming language support to the Playte to enable a more complete comparison between different interactions modes by enabling the children to create their own behaviors with a more symbolic approach.…”

Lessons Learned in Designing User-Configurable Modular Robotics

“…1(a)) is based on homogeneous modules. In the case of Fable, the heterogeneous chain-based modular robotic system consists of various modules, such as different types of joint, branching and termination modules [3]. Joint modules are actuated robotic modules used to enable locomotion and interaction with the environment.…”

“…For instance, the Fable project ( Fig. 1(f)) investigates connectors designed to allow rapid and solid attachment and detachment between modules with scalable connectors to allow modules of different sizes to be combined and designed to permit neighbor-toneighbor communication [3]. The modular interactive tiles use puzzle-shaped connectors [8], while I-Blocks use the LEGO studs [9], I-Blocks music cubes use magnets [5], and the modular robotic wearable uses simple clothes-buttons [4].…”