TofuDraw

Abstract

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.

Animation Techniques in Human-Robot Interaction User Studies

“…The other robots are custom robots. One study [93] used Tofu, a fluffy, squash and stretch robot that resembles a bird. Another study [99] used a plush dog-like robot to dance.…”

“…Other forms included domestic robots like the Roomba [99], a quadcopter drone [77], a PR2 [82] or a custom, three-armed, marimba-playing robot [37]. [95] Robovie II P Motion Capture 2007 [5] iCat, Robovie II A, P Secondary Action 2010 [24] RAF H Secondary Action 2010 [32] Stem O Unspecified animation techniques 2011 [37] Shinmon O Anticipation, Follow Through, Slow In, Slow Out 2011 [82] PR2 O Anticipation, Follow Through 2011 [93] Tofu A Squash and Stretch 2011 [97] Haptic Creature A Pose to Pose (Key Frame) 2012 [12] Nao P Motion Capture, Pose to Pose (Key Frame) 2012 [31] SIMON P Exaggeration 2012 [72] Alphabot O Pose to Pose (Key Frame) 2013 [23] DEVA O Squash and Stretch 2013 [77] Parrot AR.Drone O Motion Capture 2014 [99] Roomba, Reactor O, A Motion Capture, Puppetry 2015 [35] Custom Head H Unspecified animation techniques 2015 [55] Nao P Pose to Pose (Key Frame) 2015 [60] Nao P Secondary Action 2015 [62] Custom Head H Exaggeration, Secondary Action 2015 [96] Probo A Secondary Action, Squash and Stretch 2016 [52] Nao P Motion capture 2016 [58] Nao, iCat P, A Secondary Action, Pose to Pose (Key Frame) 2017 [1] Nao P Secondary Action 2017 [53] ISR-RobotHead H Secondary Action 2017 [67] Adelino A Inverse Kinematics using animation principles 2017 [41] Pepper, Nao P Pose to Pose (Key Frame) 2017 [84] Nao P Puppetry, "Animation Best Practices"…”

“…Although most individuals do not consider robots soft and squishy, the Squash and Stretch principle was used in three studies. In two studies [93,96] the squash and stretch principle was used to make the robot more appealing to children. Another study, used crawl, breathe, and curl gestures to create a smartphone that exhibits emotions and appears alive [23].…”

“…Seven studies focused on locomotion. However, four of the locomotion studies also had the robot do some sort of configuration (whether it was to shake the person's hand [95], squash and stretch [93], communicate the robots intention [82], or as part of a humor skit [58]). Only one study [99] used two different robots for testing locomotion and configuration.…”

“…Finally, there were three studies that tested an animation technique with some participants to see if a concept could be further developed. Two studies [55,93] involved testing if a specific set up would work with children, with general success. The other study in this group [32] was a design critique of a stick robot and how it moved.…”