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Bartlett School of Architecture, UCL

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CuGo: human-robot collaborative interaction

CuGo: human-robot collaborative interaction

CuGo isa board gamedeveloped by Kongpyung Moon and Peng Gao, in the Interactive Architecture Lab (IA Lab) at the Bartlett, UCL. The goal of the board game is to stag passive blocks on top of each other by collaborating with chained modular robots. The player has to move passive blocks on the board to a position where they think the robot can grab them. When the passive blocks are in reachable zone, robots use its inverse kinematic intelligence to reach the passive units, but when they are not approachable, robots suggest to players one of their possible movements.

This is the form development of CuGo’s active unit. It has angular rotational axis which makes it more complex and graceful motions than perpendicular axis.


The 9 by 9 board provides power to the active units via conductive surfaces, and The passive units, which are the targets of the active units, has ArUco markers to provide three dimensional position data to active units.


ArUco markers are tracked via Logitec Webcam


The exploded diagram below illustrates the components inside the robot. The structural material is 3d printed using PLA filaments.

The major aim of the active unit design process was to make it smaller and lighter. The current active unit’s edges are 6 by 6 by 6 cm with 60 grams weight. The smallest of the shelf actuator and control board has been used. In total it costs around 25 GBP per one unit.

From 13 cm to 6 cm

Above image is the iterations of active units.


Diagram above shows how to interact with the active robots. The goal of the game is to stag as much passive units as possible.


Next stage of CuGo(v. walking CuG)