让多个移动机器人自动在桌面和墙面间切换，无需人工干预。
corobos: A Design for Mobile Robots Enabling Cooperative Transitions between Table and Wall Surfaces
- 用特殊斜面结构实现机器人间协作翻转，靠机械力完成过渡。
- 实验显示过渡成功率高，且全靠被动结构，无需额外电机或传感器。
- 适合用于可重构的智能交互环境，如动态桌面系统。
集群用户界面通过多个移动机器人动态配置用户环境，但其运动范围通常受限于单一平面，主要受两轮驱动系统的制约。本文提出 corobos 的概念验证设计，使这些机器人能够无需人工干预，协同实现在桌面（水平面）与墙面（垂直面）之间的无缝转换。每个机器人配备独特的斜面结构，当另一机器人推动时可平稳旋转至目标表面。该设计仅依赖被动机械元件，无需额外主动电气部件。我们研究了该结构的设计参数，并通过实验评估了转换成功率。此外，展示了多种应用实例，验证了 corobos 在提升用户环境灵活性方面的潜力。
原文摘要 · Abstract (English)
Swarm User Interfaces allow dynamic arrangement of user environments through the use of multiple mobile robots, but their operational range is typically confined to a single plane due to constraints imposed by their two-wheel propulsion systems. We present corobos, a proof-of-concept design that enables these robots to cooperatively transition between table (horizontal) and wall (vertical) surfaces seamlessly, without human intervention. Each robot is equipped with a uniquely designed slope structure that facilitates smooth rotation when another robot pushes it toward a target surface. Notably, this design relies solely on passive mechanical elements, eliminating the need for additional active electrical components. We investigated the design parameters of this structure and evaluated its transition success rate through experiments. Furthermore, we demonstrate various application examples to showcase the potential of corobos in enhancing user environments.
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