ShapeBots: Shape-changing Swarm Robots

Abstract

Figure 1. ShapeBots exemplifies a new type of shape-changing interface that consists of a swarm of self-transformable robots. A) Two ShapeBot elements. B) A miniature reel-based linear actuator for self-transformation. By leveraging individual and collective transformation, ShapeBots can provide C) interactive physical display (e.g., rendering a rectangle), D) object actuation (e.g., cleaning up a desk), E) distributed shape display (e.g., rendering a dynamic surface), and F) embedded data physicalization (e.g., showing populations of states on a US map). ABSTRACTWe introduce shape-changing swarm robots. A swarm of selftransformable robots can both individually and collectively change their configuration to display information, actuate objects, act as tangible controllers, visualize data, and provide physical affordances. ShapeBots is a concept prototype of shape-changing swarm robots. Each robot can change its shape by leveraging small linear actuators that are thin (2.5 cm) and highly extendable (up to 20cm) in both horizontal and vertical directions. The modular design of each actuator enables various shapes and geometries of self-transformation. We illustrate potential application scenarios and discuss how this type of interface opens up possibilities for the future of ubiquitous and distributed shape-changing interfaces.interfaces [5,38]-will follow the same path as technology advances. Although current interfaces are often large, heavy, and immobile, these interfaces will surely be replaced with hundreds of distributed interfaces, in the same way that desktop computers were replaced by hundreds of distributed mobile computers. If shape-changing interfaces will become truly ubiquitous, how can these interfaces be distributed and embedded into our everyday environment? This paper introduces shape-changing swarm robots for distributed shape-changing interfaces. Shape-changing swarm robots can both collectively and individually change their shape, so that they can collectively present information, act as controllers, actuate objects, represent data, and provide dynamic physical affordances.

Molecular HCI

“…A few existing implementations embed displays on their modules ranging from arrays of LEDs (e.g., [72]) to OLED/FOLED screens (e.g., [27,28,91]). Swarms hardly allow for smooth physical coupling: few provide latching capabilities (e.g., [18,68]) but most are constantly unlatched (e.g., [57,93,107]). This prevents the envelop of the interface to be smooth.…”

Hermits

“…SUIs have also been employed for activating passive modules including assembling blocks for rendering haptic proxies [93], and moving furniture and walls for rendering room-scale VR space [75]. To enhance the capability of SUI with reconfigurable interactive functionalities, HERMITS augment SUI with passive mechanical transmission attachments, and investigates the a new research space For adding extra shape changing modality to SUIs, Suzuki et al have explored with ShapeBots [79] and RoomShift [75] to add linear actuation modules. While some of the mechanical shell prototypes presented in HERMITS overlap with the interaction modalities for shape changing SUIs, our novel contribution is the possibility for self-propelled interfaces (including SUIs) to selectively attach and detach to modules, enabling more flexible functionalities.…”

“…Multiple degrees of freedom is also enabled through the discrete cooperation of units. In this manner, units can work together to present collective shapes, similar to [79], but with the added possibility to exchange the shell. Co-assembly also involves multiple degrees of freedom.…”

Mechanical Shells

“…The design space of HERMITS defines multiple primitive designs of mechanical shells to extend and reconfigure the interactivity of self-propelled robots, including shape, motion, light, etc. The introduced mechanical shell designs can be docked by single robots but also multiple robots following the concept of Swarm UI for collective reconfiguration and actuation [14,40]. I have developed the proof-of-concept prototype based on a technical platform using off-the-shelf robotic toys to demonstrate the reconfigurable interactivity.…”