Design of a Small Swarming Robot Showing Intuitive Human Interaction

Abstract

This thesis explores the design and development of a bio-inspired robotic module that enhances intuitive human interaction within a swarm robotics context. The work addresses a research gap in Human-Swarm Interaction by focusing on how individual swarm robots can express emotions and respond to humans in meaningful, non-verbal ways, drawing inspiration from both domesticated animals, like dogs, and arthropods. The project integrates sensory and expressive components such as eyes, antennae, and body movement into a modular "symbiote" that can be mounted on existing robots. Through iterative prototyping, user studies, and expert consultations, the research identifies key emotional states and corresponding expressive behaviors, culminating in a module that communicates through movement of its appendages. The module supports real-time interaction and demonstrates the potential for robots to form more natural and intuitive relationships with human users, especially in exhibition environments like TU Delft’s Cyber Zoo. The findings contribute to the fields of bio-inspired design, swarm robotics, and human-robot interaction by offering a novel approach to enhancing emotional legibility and engagement in robotic swarms.