Background
The University of Twente currently houses four KUKA iDo robots, which are versatile, modular robots being re-designed for research and education. One of these has been transformed into an “improvotype”: a robot performer used in performative enactments to explore and prototype social robot behaviors, particularly in healthcare settings.
However, while the robot’s hardware is modular, its control interface is limited. For improvisation and expressive scenarios, like those in theatre or social interaction experiments, users need more flexible and intuitive control over the robot’s behavior.
A re-mapping interface is currently in early development (ROS/CLI). It aims to let users switch between controllers like MIDI consoles, gamepads, or joysticks and map robot functions to these inputs on the fly. Your task is to take this idea further.
Problem Statement
How can we expand on the current system to design a modular, intuitive control (re-)mapping interface that supports a range of external controllers and allows non-technical users (e.g. performers, designers) to customize how they control the iDo improvotype during expressive enactments?
Objectives
- Survey state-of-the-art robot control methods in creative and research contexts.
- Identify and shortlist of promising external controllers (e.g. MIDI boards, PS controllers, joysticks).
- Design and implement a flexible interface (GUI/Visualiser) that allows users to map, re-map, and operate the iDo robot using these controllers.
- Test the interface in controlled scenarios and with real users to compare ease of use and expressive potential.
Expected Results
- A working control interface that supports plug-and-play controller mapping.
- A comparative evaluation of controller performance and usability.
- A short report and documentation on the design decisions, user testing, and implementation process.
Tools & Technologies
- Programming: Python, C/C++ etc
- Frameworks: ROS, ROS2, microROS, GUI frameworks (Qt/Tkinter/Electron etc)
- Platforms: Ubuntu PC, Raspberry Pi Pico
- Input Devices: MIDI controller, game controller, joystick etc
Who Is This For?
This project is ideal for students interested in:
- Human-robot interaction
- Creative robotics and performance
- Interface design for expressive systems