Implementation of a robot with exaggerated motion expressions and shape transformations using squash, stretch, and inflation

In this short paper, we have categorized exaggeration expressions and created mathematical models of each movement that modify the expressions to be able to generalize them. We also created Mochi, a robot that uses Squash and Stretch, exaggerates these movements, and further exaggerates shape changes by inflating and shrinking to evaluate its movement, which we categorized and the impression. The results show that Mochi could reproduce eight types of motion and shape exaggeration expressions with only two actuators, and suggested that variations in speed are easily perceived as exaggerated movements. This study supports quantitative design of exaggerated robot motions.