Elements of Robot Morphology: Supporting Designers in Robot Form Exploration

TL;DR

This paper introduces a structured framework and tangible toolkit for systematic exploration and design of robot forms, aiming to assist designers in human-robot interaction contexts.

Contribution

It presents the Elements of Robot Morphology framework and Morphology Exploration Blocks, enabling structured, hands-on exploration of robot design space.

Findings

Framework supports diverse robot form analysis and ideation

Toolkit facilitates collaborative and reflective design processes

Case studies demonstrate effectiveness in design workshops

Abstract

Robot morphology, the form, shape, and structure of robots, is a key design space in human-robot interaction (HRI), shaping how robots function, express themselves, and interact with people. Yet, despite its importance, little is known about how design frameworks can guide systematic form exploration. To address this gap, we introduce Elements of Robot Morphology, a framework that identifies five fundamental elements: perception, articulation, end effectors, locomotion, and structure. Derived from an analysis of existing robots, the framework supports structured exploration of diverse robot forms. To operationalize the framework, we developed Morphology Exploration Blocks (MEB), a set of tangible blocks that enable hands-on, collaborative experimentation with robot morphologies. We evaluate the framework and toolkit through a case study and design workshops, showing how they support analysis, ideation, reflection, and collaborative robot design.