TofuDraw : choreographing robot behavior through Digital Painting

Abstract

In this document, TofuDraw is introduced as an expressive robotic character with interfaces that enable children to choreograph robotic behaviors through controlling both physical motion and form. Unique to the TofuDraw system is the presented "Digital Painting" interface, which enables children to choreograph the motion and form of an expressive robot through coloring a digitally projected surface using the affordances of painting. Additional interfaces are also presented, which enable children to control the robotic character in a realtime fashion using more traditional video game inspired control. Using these interfaces, the TofuDraw system intends to animate expressive robotic characters serving as transitional objects that allow children to explore a ́microworld where theater is the primary language. Evaluations of the TofuDraw system with children ages 3-8 suggest that children can incorporate the presented expressive robotic characters into their fantasy play patterns and control the expressive robot's behavior through numerous control interfaces designed to choreograph both form and motion.