Designing Expandable-Structure Robots for Human-Robot Interaction
Moreover, highly extendable linear actuators can achieve both shape- and size-changing transformations (Takei et al., 2012; Hammond et al., 2017; Hawkes et al., 2017).
2 Expandable Structures for RoboticsTo date, there has been very little work exploring robots with expandable structures from a human-robot interaction perspective.
While precisely classifying the full space of shape-changing robots is challenging, as some robots might cross categorical boundaries, systems developed in prior research generally fall into one of the following major groups: modular self-reconfigurable robots, origami-like robots, tensegrity robots, soft robots, or deployable/expandable robots.
Currently, most research in tensegrity robotics is focused on design, locomotion, and control (Caluwaerts et al., 2014; Sabelhaus et al., 2015; Zhang et al., 2017; Vespignani et al., 2018; Wang et al., 2019).
Prior research has explored a variety of communicative channels, including gaze (Mulu, 2006; Andrist et al., 2012; Andrist et al., 2014; Admoni, 2016; Oliveira et al., 2018), implicit motion (Dragan et al., 2013; Szafir et al., 2014; Sadigh et al., 2016; Zhou et al., 2017; Kwon et al., 2018), gesture (Waldherr et al., 2000), sound (Cha and Matarić, 2016; Cha et al., 2018a), visual displays, lights (Szafir et al., 2015; Baraka et al., 2016; Song and Yamada, 2018), haptics (Guerreiro et al., 2019; Guinness et al., 2019), projection (Pierce et al., 2012; Cauchard et al., 2019), and augmented reality (Hedayati et al., 2018; Walker et al., 2018; Cao et al., 2019; Szafir, 2019; Walker et al., 2019).