When designing a performance involving people and mobile robots, we must consider the required functions and shape of the robot. However, it can be difficult to account for all of the requirements. In this paper, we discuss a mobile robot in the shape of a ball that is used in theatrical performances. Such a spherical robot should be agile and be able to roll like a ball. However, it is difficult to create a robot with all of these characteristics. Instead, we propose a mobile robot that can give the audience the optical illusion of the unique movements of a sphere by mounting a spherical LED display on a high-agility wheeled robot. The results of an experiment using a prototype indicate that this sort of robot can broaden the range of possible performances by giving the optical illusion of being a rolling sphere.
3. 1. Background
2. Research Purpose
3. Proposed Method
4. Preliminary Study
5. Improvement of System and Evaluation
6. Testing the ability of the proposed system
7. Summarize
4. 1. Background
2. Research Purpose
3. Proposed Method
4. Preliminary Study
5. Improvement of System and Evaluation
6. Testing the ability of the proposed system
7. Summarize
5. 5
A performance involving people and mobile robots
Reference: Dance with Drones, https://www.youtube.com/watch?v=HQLORg5COiU
Problem
・Noisy
・Risk of Crash
・Control difficulty
Background
7. 7
How to provide a stable system
Function
・Failsafe
・Multiplexing
For a general system
System User
Dependability
Background
8. 8
System Performer /
Stage director
Function Stage effects
Audience
How to provide a stable system
For a stage effect system
Background
9. 9
System Performer /
Stage director
Function Stage effects
Audience
How to provide a stable system
For a stage effect system
Background
Dependability
10. 10
System Performer /
Stage director
Function Stage effects
Audience
How to provide a stable system
For a stage effect system
Background
Dependability Appearance Dependability
Stabilize the function with the same stage effect
16. 1. Background
2. Research Purpose
3. Proposed Method
4. Preliminary Study
5. Improvement of System and Evaluation
6. Testing the ability of the proposed system
7. Summarize
17. Problem of a rolling robot 17
Expression of
rotational movement
Agility
Accuracy of
posture estimation
18. Problem of a rolling robot 18
Expression of
rotational movement
Agility
Accuracy of
posture estimation
Cross section
Actual appearance
19. Problem of a rolling robot 19
Expression of
rotational movement
Agility
Accuracy of
posture estimation
Cannot increase acceleration
Cannot make a sudden turn
by centrifugal force
20. Problem of a rolling robot 20
Expression of
rotational movement
Agility
Accuracy of
posture estimation Cannot attach a marker for
motion capture to
the outer surface
21. Problem of a rolling robot 21
Expression of
rotational movement
Agility
Accuracy of
posture estimation
High-agility mobile wheeled rob
22. Problem of a rolling robot 22
Expression of
rotational movement
Agility
Accuracy of
posture estimation
High-agility mobile wheeled rob
Spherical LED display visually
reproduces rotational moveme
23. 1. Background
2. Research Purpose
3. Proposed Method
4. Preliminary Study
5. Improvement of System and Evaluation
6. Testing the ability of the proposed system
7. Summarize
24. Preliminary Investigation on Rotational Movement
Expression of a Sphereical LED Display 24
Purpose
Built a mobile robot equipped
with a spherical LED display
and evaluate its visual effect.
27. 27
Device
Spherical
LED display
Mobile robot
Diameter Φ350mm
Weight 3500g
Speed 0.42m/sec
Preliminary Investigation on Rotational Movement
Expression of a Sphereical LED Display
miniUSB
Multi plug
Breadboard Cover
31. 31
・The larger the surface area to light the light,
the larger the variation of the pattern,
the tendency to increase the illusion effect was observed.
・Nine out of the eleven participants noticed that
the velocity of the sphere and the rotational speed of
the lights were not the same and commented on it.
Result
Preliminary Investigation on Rotational Movement
Expression of a Sphereical LED Display
32. 1. Background
2. Research Purpose
3. Proposed Method
4. Preliminary Study
5. Improvement of System and Evaluation
6. Testing the ability of the proposed system
7. Summarize
33. Improvement of System 33
・Synchronize the rotation of the lights
of the spherical LED display
with the distance moved by the robot.
・In consideration of an actual stage
performance, the driving part should
be as low and as small as possible.
Improvement point
=
37. 37
Motor cover Battery
mbed
Xbee
Spherical LED
display
Mobile robot
Device
Disassembled
Improvement of System
Previous New device
Diamete
r
350mm 200mm
Height 110mm 60mm
Weight 3500g 600g
CPU H8/36064 STM32F405
Table: Spec
38. 38
Acceleration comparison test of spherical mobile robots
the arrival times
for a distance
of 1.0 m
・Sphero
1.39 sec
・Propsed Robot
1.00 sec
Improvement of System
39. Experiment 41
Experiment items
1. Whether participants who did not see the movements of
the spherical mobile robot experience the optical illusion of a
rolling spheres.
2. The relationship between the velocity of the robot and the
perception of the optical illusion.
3. Influence of the deviation between the amount of rotation
and the moving distance on the illusion.
Participants
12 males (Average age 22.7)
→Possibility of alternative mechanism
→Allowable range of alternative mechanism
→Allowable range of alternative mechanism
41. 43
Experiment procedure
Step 1 → Step 2 → Step 3 → Step 4
6 m
4.4 m
2 m
0.5 m
0.23 m
Experiment
A participant watches a
performance involving
the mobile robot equipped
with a spherical LED display
and has no knowledge about
how it operates.
Performer
Par$cipant
44. 46
Experiment procedure
Step 1 → Step 2 → Step 3 → Step 4
Experiment
・a spherical LED display presents the rotation (0.6 m/s).
・After the presentation, an experimenter orally asks the
participant two questions:.
Q1: Did the sphere appear to be rolling?
Q2: What mechanism do you think makes the sphere moves?
48. 50
Experiment procedure
Step 1 → Step 2 → Step 3 → Step 4
Experiment
Participant
・Participants confirm
the actual LED ball
rolling from the same
position as in Step 1.
49. 51
Experiment procedure
Step 1 → Step 2 → Step 3 → Step 4
Experiment
Participant
・Participants confirm
the actual LED ball
rolling from the same
position as in Step 1.
被験者
Actual LED ball
Spherical LED display
50. 52
・The LED display shows showed the following
7 visual effect patterns.
Velocity:
0.3, 0.6, 0.9, 1.2 [m/s]
Amount of rotation of lights with respect to the moving
distance:
0.5, 1.5, 2.0 (velocity 0.6 m/s)
Experiment procedure
Step 1 → Step 2 → Step 3 → Step 4
Experiment
52. 54
Q1: Did the sphere appear to be rolling?
Experiment
Step 1 → Step 2 → Step 3 → Step 4
Yes
12 participants
11
Results and Consideration
53. 55
Experiment
Step 1 → Step 2 → Step 3 → Step 4
Results and Consideration
Q2: What mechanism do you think makes the sphere moves?
「I thought that the sphere was just rolling. 」
「I thought that the LED ball was rolling by running on electric rails. 」
「I thought there was a driving part inside the LED ball and
that the LED ball was rolling because its center of gravity
was moving. 」
54. 56
Experiment
Step 1 → Step 2 → Step 3 → Step 4
Results and Consideration
Q2: What mechanism do you think makes the sphere moves?
「I thought that the sphere was just rolling. 」
「I thought that the LED ball was rolling by running on electric rails. 」
「I thought there was a driving part inside the LED ball and
that the LED ball was rolling because its center of gravity
was moving. 」
These answers confirmed that the
participants perceived the sphere to be
physically rolling.
55. 57
Experiment
Step 1 → Step 2 → Step 3 → Step 4
Results and Consideration
Participants didn’t notice
・We explained the mechanism and confirmed whether
the participants had noticed the mechanism.
12 participants
12
56. 58
Experiment
Experiment items
1. Whether or not participants who did not see the movements
of the spherical mobile robot
experience the optical illusion of a rolling spheres.
2. The relationship between the velocity of the robot and the
perception of the optical illusion.
3. Influence of the deviation between the amount of rotation
and the moving distance on the illusion.
57. 59
Experiment
Experiment items
Participants feel the ball is actually rolling.
1. Whether or not participants who did not see the movements
of the spherical mobile robot
experience the optical illusion of a rolling spheres.
2. The relationship between the velocity of the robot and the
perception of the optical illusion.
3. Influence of the deviation between the amount of rotation
and the moving distance on the illusion.
58. 60
・Participants watch an actual rolling LED ball.
(For evaluation criteria).
Experiment
Step 1 → Step 2 → Step 3 → Step 4
Results and Consideration
60. 62
Q: Did the sphere appear to be rolling?
・The relationship between the velocity of the robot
and the perception of the optical illusion.
Figure: Average value of the evaluation of 12 participants.
When the speed was extremely fast / slow,
the illusion effect tended to weaken.
Experiment
Results and Consideration
61. 63
Experiment
Experiment items
1. Whether or not participants who did not see the movements
of the spherical mobile robot
experience the optical illusion of a rolling spheres.
2. The relationship between the velocity of the robot and the
perception of the optical illusion.
3. Influence of the deviation between the amount of rotation
and the moving distance on the illusion.
Participants feel the ball is actually rolling.
When the speed was extremely fast / slow,
the illusion effect tended to weaken.
62. 64
・Influence of the deviation between the amount of
rotation and the moving distance on the illusion.
🦐 🦐 p < .05
Experiment
Results and Consideration
Q: Did the sphere appear to be rolling?
Figure: Average value of the evaluation of 12 participants.
The amount of rotation [m] / The moving distance [m]
63. 65
Experiment
Experiment items
1. Whether or not participants who did not see the movements
of the spherical mobile robot
experience the optical illusion of a rolling spheres.
2. The relationship between the velocity of the robot and the
perception of the optical illusion.
3. Influence of the deviation between the amount of rotation
and the moving distance on the illusion.
Participants feel the ball is actually rolling.
When the speed was extremely fast / slow,
the illusion effect tended to weaken.
The illusion effect diminishes as the rotation amount is
increased with respect to the movement distance.
64. 66
Experiment
Experiment summary
• Eleven out of twelve participants believed the illusion that the
sphere was rolling when they watched the performance,
which is surprising.
• The improved hardware and software made the illusion
possible even when the LED ball moved too slowly or too
quickly.
• We found that attention needs to be paid to the relationship
between rotation and moving distance when setting up a
performance.
65. 1. Background
2. Research Purpose
3. Proposed Method
4. Preliminary Study
5. Improvement of System and Evaluation
6. Testing the ability of the proposed system
7. Summarize
68. 70
Experiment
Comments by Performer
• Until being told how the mechanism worked, I was convinced that
the sphere was physically rotating on its own.
• It looked as if the sphere was attached to the wall, and rolling on it.
• It seemed that the camera angle was changing, which was very
interesting.
• It looked as if the robot was surprised.
• It looked as if the video’s playback speed was changing.
• In one scene the robot was gentlemanlike.
Comments by Audience
A spherical robot on a moving stand demonstrated higher power
output and mobility than expected.
It was able to move very naturally during scenes such as when it
pushed against a wall without appearing too burdened.
69. 1. Background
2. Research Purpose
3. Proposed Method
4. Preliminary Study
5. Improvement of System and Evaluation
6. Testing the ability of the proposed system
7. Summarize
70. Summarize 72
・We propose the concept of using pseudo-physical
movements in performances with robots.
・We built a robot that visually reproduces
the movements of a rolling sphere and is capable of
faster movements and easier position estimations in
comparison with previous spherical robots.
・We created a performance that included the robot
interacting with a professional performer.