Elements of Robot Morphology: Supporting Designers in Robot Form Exploration

2026-02-09

AI Summary

This study addresses the lack of a systematic framework in current robot morphology design, which hinders formal innovation in human-robot interaction. To bridge this gap, the authors propose a theoretical framework—the “Five Elements of Robot Morphology”—comprising perception, articulation, end-effectors, locomotion, and structural composition. Building on extensive case analyses, they develop a tangible toolkit named Morphology Exploration Blocks (MEB) to operationalize the framework. Through design workshops and case studies, the framework and toolkit are shown to effectively support designers in structured analysis, creative ideation, reflective critique, and collaborative exploration of robot forms. This work establishes, for the first time, a closed loop from theoretical abstraction to hands-on practice, offering a systematic methodology and practical tools to advance innovation in robot morphology.

Technology Category

• Intelligent Robots: Manipulation
• Philosophy and Ethics of AI: Safety, Robustness & Trustworthiness
• Humans and AI: Understanding People, Theories, Concepts and Methods

Application Category

• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Semantics and Knowledge: Data modeling to support human-machine intelligence, including LLMs agents, intelligent system behavior, explanations, and user-friendly interactions
• User Modeling, Personalization and Recommendation: User modeling and simulation for interactive and conversational systems

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.

Problem

• robot morphology
• design framework
• form exploration
• human-robot interaction
• systematic design

Innovation

• robot morphology
• design framework
• tangible toolkit
• human-robot interaction
• form exploration