Design Research And Practice Of Expressive Motion Of Origami Robots

Communication between robots and humans has always been the research direction in the field of Artificial Intelligence.Motion expression channel is an essential part of Human-Robot Interaction(HRI)as important as Voice User Interface(VUI)and Graphic User Interface(GUI).Through expressive motion,the robot can express its attitudes,intentions and states.Besides,it can create a vivid persona.At present,there are many studies on expressive motion of different types of service robots,including enhancing interaction intention,optimizing interaction experience and conveying emotions through expressive motion.Origami robots,which are low-cost,lightweight,easy ones to make and rich in shapes,are more likely to approach more families and schools and interact with end-users.However,there is no study on the design of the expressive motion of origami robots currently.This thesis studies the typical origami structure of origami robots and proposes a modular design of motion driven units.Furthermore,this thesis puts forward a set of design method for the expressive motion of origami robots and guides a design workshop through this method.Finally,the motion expression ability of the workshop is verified by experiments.The main innovations of this thesis are as follows:(1)Propose the design and research contents of the expressive motion of origami robots.(2)Put forward the classification basis of origami structure,and classify the origami structure according to the motion characteristics.Based on the final classification,the origami structure library is sorted out.(3)Propose a method to describe motions of the origami robots with key positions and motion curves.Moreover,modularize motions of the Origami Robots and write the motion control library.(4)Propose the expressive motion design method and design tool kit for origami robots.(5)Use the above methods to lead a design workshop,produce successful cases,and verify the motion expression ability of the cases.By exploring the expressive motion design method of origami robots,we can make origami robot express interactive information better and provide a more natural way of Human-Robot Interaction.Finally,this thesis provides values to HRI and the studies of expressive motion.