Romeo: A Design Tool for Embedding Transformable Parts in 3D Models to Robotically Augment Default Functionalities

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Reconfiguring shapes of objects enables transforming existing passive objects with robotic functionalities, e.g., a transformable coffee cup holder can be attached to a chair’s armrest, a piggybank can reach out an arm to ’steal’ coins. Despite the advance in end-user 3D design and fabrication, it remains challenging for non-experts to create such ‘transformables’ using existing tools due to the requirement of specific engineering knowledge such as mechanisms and robotic design. We present Romeo—a design tool for creating transformables embedded into a 3D model to robotically augment the object’s default functionalities. Romeo allows users to express at a high level, (1) which part of the object to be transformed, (2) how it moves following motion points in space, and (3) the corresponding action to be taken. Romeo then automatically generates a robotic arm embedded in the transformable part ready for fabrication. We validated Romeo with a design session where 8 participants design and create custom transformables using 3D objects of their own choice.