Shaping Expressiveness in Robotics: The Role of Design Tools in Crafting Embodied Robot Movements

TL;DR

This work tackles the challenge of engineering expressive motion in collaborative robots by bridging expressive design concepts with practical robotic control. It introduces a movement-centered design toolbox that combines Movement Observation-Analysis (MOA) as a conceptual framework, a custom PS4 remote controller for embodied interaction, and a Blender-based animation workflow integrated with ROS via ZeroMQ. Through a three-and-a-half-hour workshop with engineering teams, the study demonstrates that the toolbox enables participants to translate expressive intents into executable robotic trajectories, balancing intuitive control with precise timing and smoothness. MOA provides structure for evaluating movement qualities, while the tools complement each other, revealing design strategies and limitations across scenarios. The results suggest that such human-centered tooling can enhance the readability and engagement of robotic motions in social contexts and guide future tool development.

Abstract

As robots increasingly become part of shared human spaces, their movements must transcend basic functionality by incorporating expressive qualities to enhance engagement and communication. This paper introduces a movement-centered design pedagogy designed to support engineers in creating expressive robotic arm movements. Through a hands-on interactive workshop informed by interdisciplinary methodologies, participants explored various creative possibilities, generating valuable insights into expressive motion design. The iterative approach proposed integrates analytical frameworks from dance, enabling designers to examine motion through dynamic and embodied dimensions. A custom manual remote controller facilitates interactive, real-time manipulation of the robotic arm, while dedicated animation software supports visualization, detailed motion sequencing, and precise parameter control. Qualitative analysis of this interactive design process reveals that the proposed "toolbox" effectively bridges the gap between human intent and robotic expressiveness resulting in more intuitive and engaging expressive robotic arm movements.

Figures (3)

• Figure 1: Two participants composing a movement for a robotic arm as part of our workshop.
• Figure 2: Workflow diagram illustrating the transfer of user ideas into robotic motions via Blender and real-time ROS communication.
• Figure 3: Designing robotic movements in Blender: avatar model and timeline view.