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This paper presents two experiments with Electric Field Servoing for robotic manipulation. In the first, a robot hand pre-shapes to the geometry and pose of objects to be grasped, by servoing each finger according to the values on EF sensors built in to each finger. In the second, a 7 degree of freedom arm aligns itself in 2 dimensions with a target object using electric field measurements as the error signal. This system also allows the end effector to dynamically track the target object as it is moved.

TofuDraw combines an expressive semi-autonomous robot character (called Tofu) with a new mixed reality DigitalPaint interface whereby children can draw a "program" on the floor that governs the robot character's behavior. Initial evaluations of the TofuDraw system with children ages 3-8 suggest that children can successfully use this interface to choreograph the expressive robot's behavior. Our ultimate goal for this tool is to enable young children to engage in STEM learning experiences in new contexts such as creating interactive robot theatre performances.

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