koboshi: A Base That Animates Everyday Objects

2025-08-19

AI Summary

This study addresses the limitations of static everyday objects—namely, their lack of autonomous motion and insufficient support for human–object or object–object interaction. To overcome these challenges, we propose Koboshi, a spherical-base dynamic actuation robot. Koboshi employs an internal motor-driven counterweight to generate inertial forces and leverages its spherical contact interface to enable omnidirectional rocking, thereby endowing passive objects with controllable vertical and lateral motion. Integrated IMU sensing enables real-time pose estimation, while an embedded control system and wireless communication support closed-loop actuation and multi-device coordination. Our key innovation lies in unifying dynamic actuation, sensing, and communication within a universal, non-invasive base—requiring no modification to the hosted object. Experiments demonstrate successful dynamic activation of diverse household items, synchronized multi-unit motion, and intuitive user interaction via gesture and voice commands, highlighting its potential in smart environments and immersive entertainment applications.

Technology Category

• Intelligent Robots: Manipulation
• Humans and AI: Interaction Techniques and Devices
• Computer Vision: Motion & Tracking

Application Category

• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Systems and Infrastructure for Web, Mobile and WoT: Energy management for devices in mobile Web and WoT environments
• Graph Algorithms and Modeling for the Web: Efficient manipulation of static and dynamic Web-related graphs

Abstract

We propose a base-shaped robot named "koboshi" that moves everyday objects. This koboshi has a spherical surface in contact with the floor, and by moving a weight inside using built-in motors, it can rock up and down, and side to side. By placing everyday items on this koboshi, users can impart new movement to otherwise static objects. The koboshi is equipped with sensors to measure its posture, enabling interaction with users. Additionally, it has communication capabilities, allowing multiple units to communicate with each other.

Problem

• Animate static objects with robotic base movement
• Enable user interaction through posture sensing
• Facilitate multi-unit communication for coordinated motion

Innovation

• Base-shaped robot with spherical surface contact
• Moves internal weight via motors for rocking motion
• Equipped with posture sensors and inter-unit communication