Threading Space a kinetic sculpture that uses a swarm of mobile robots on the floor and ceiling to control lines of thread. By dynamically and geometrically reconfiguring physical lines, Threading Spaces manipulates the physical space that surrounds it. As the threads interact and intertwine with each other, they become a hypnotic medium for physical patterns in 3D space.
THREADING SPACE
Dynamic Kinetic Sculpture with Thread-Controlling Swarm Robots for Spatial Interaction
THREADING SPACE
Dynamic Kinetic Sculpture with Thread-Controlling Swarm Robots for Spatial Interaction
THREADING SPACE
Dynamic Kinetic Sculpture with Thread-Controlling Swarm Robots for Spatial Interaction
Threading Space a kinetic sculpture that uses a swarm of mobile robots on the floor and ceiling to control lines of thread. By dynamically and geometrically reconfiguring physical lines, Threading Spaces manipulates the physical space that surrounds it. As the threads interact and intertwine with each other, they become a hypnotic medium for physical patterns in 3D space.
Threading Space a kinetic sculpture that uses a swarm of mobile robots on the floor and ceiling to control lines of thread. By dynamically and geometrically reconfiguring physical lines, Threading Spaces manipulates the physical space that surrounds it. As the threads interact and intertwine with each other, they become a hypnotic medium for physical patterns in 3D space.
THREADING SPACE
Dynamic Kinetic Sculpture with Thread-Controlling Swarm Robots for Spatial Interaction
Threading Space a kinetic sculpture that uses a swarm of mobile robots on the floor and ceiling to control lines of thread. By dynamically and geometrically reconfiguring physical lines, Threading Spaces manipulates the physical space that surrounds it. As the threads interact and intertwine with each other, they become a hypnotic medium for physical patterns in 3D space.
Role
Project Lead
Hardware Design Lead
Interaction Designer
Role
Project Lead
Hardware Design Lead
Interaction Designer
Team
Emilie Faracci
Ramarko Bhattacharya
Harrison Dong
Ken Nakagaki
Team
Emilie Faracci
Ramarko Bhattacharya
Harrison Dong
Ken Nakagaki
Exhibitions
Ars Electronica 2023
South Side Science Festival
Exhibitions
Ars Electronica 2023
South Side Science Festival
ABOUT
ABOUT
Threading Space is a kinetic sculpture that explores how human’s spatial perception can be manipulated by dynamically and geometrically reconfiguring physical lines of thread using a swarm of mobile robots on the floor and ceiling. As the threads interact and intertwine with each other, they become a hypnotic medium for tangible patterns in three-dimensional space. Using lines of thread, the work outlines planes and volumes in space, creating pseudo boundaries, and plays with the viewer's natural sense of delimitation. Through a physical installation and an interactive GUI, Threading Space invites the audience to explore the potential of using swarm robots and line elements to create, morph, and interact with space.
Threading Space is a kinetic sculpture that explores how human’s spatial perception can be manipulated by dynamically and geometrically reconfiguring physical lines of thread using a swarm of mobile robots on the floor and ceiling. As the threads interact and intertwine with each other, they become a hypnotic medium for tangible patterns in three-dimensional space. Using lines of thread, the work outlines planes and volumes in space, creating pseudo boundaries, and plays with the viewer's natural sense of delimitation. Through a physical installation and an interactive GUI, Threading Space invites the audience to explore the potential of using swarm robots and line elements to create, morph, and interact with space.
BACKGROUND
BACKGROUND
AeroRigUI
Yu et al., CHI’23
AeroRigUI is an actuated tangible UI for 3D spatial embodied interaction. Using strings controlled by self-propelled swarm robots with a reeling mechanism on ceiling surfaces, AeroRigUI enables rigging (control through strings) physical objects’ position and orientation in the air. This can be applied to novel interactions in 3D space, including dynamic physical afordances, 3D information displays, and haptics.
ZOROZORO
Whatever-Co
The ZOROZORO project is an
experimental initiative aimed at simultaneously controlling 256 mobile robots, specifically the toio cubes from Sony. Through the utilization of Cube Controller, Bridge, and Scanner modules, the system effectively surpasses the toio's connection limit (typically capped at 10 connections with one laptop). This allows for the creation of real-time swarm movements among the mobile robots.
Employing swarm robots for interaction and expression has been explored in HCI and interactive arts to develop novel embodied experiences allowing people to interact with collectively moving physical agents. At AxLab at The University of Chicago, we have deployed swarm robots on ceiling surfaces, using magnet-embedded robots, to enrich everyday spatial interaction [AeroRig, ThrowIO]. By building on such hardware modules to manipulate lines or threads dynamically in physical space, our work explores novel artistic expression and interaction beyond static works like Fred Sandback's thread-employing vertical constructions or Gego's reticular wire sculptures. Connecting two mobile robots at the ends of each thread and pairing the ceiling and floor robots enables us to program animation sequences and add customizability in "sculpting" this 3D space by dynamically forming various shapes.
Employing swarm robots for interaction and expression has been explored in HCI and interactive arts to develop novel embodied experiences allowing people to interact with collectively moving physical agents. At AxLab at The University of Chicago, we have deployed swarm robots on ceiling surfaces, using magnet-embedded robots, to enrich everyday spatial interaction [AeroRig, ThrowIO]. By building on such hardware modules to manipulate lines or threads dynamically in physical space, our work explores novel artistic expression and interaction beyond static works like Fred Sandback's thread-employing vertical constructions or Gego's reticular wire sculptures. Connecting two mobile robots at the ends of each thread and pairing the ceiling and floor robots enables us to program animation sequences and add customizability in "sculpting" this 3D space by dynamically forming various shapes.
INTERACTION DESIGN
INTERACTION DESIGN
The design of Threading Space allows for an infinite number of animations that can transform space across time. In order to display these possibilities, we pre-designed a series of animations built on circular and linear geometries to mesmerize viewers. On top of these geometric bases, we used symmetry and dissonance between the floor and ceiling to form new shapes and create visual effects.
The design of Threading Space allows for an infinite number of animations that can transform space across time. In order to display these possibilities, we pre-designed a series of animations built on circular and linear geometries to mesmerize viewers. On top of these geometric bases, we used symmetry and dissonance between the floor and ceiling to form new shapes and create visual effects.
SYSTEM DESIGN
SYSTEM DESIGN
The installation consists of two mats that are 1260mm by 1188mm. A pair includes a robot on the floor and the ceiling within a 3D-printed shell. Threading Space uses toio robots (manufactured by Sony Entertainment). Threads connect the shells with a reel to allow them to shrink and grow as needed. As the robots move around on the ceiling and floor mats, the connected threads can form a wide variety of three dimensional shapes. The mats are ferromagnetic metal sheets covered by toio mats for toio robots to localize. Within the installation, ten pairs of robots can manipulate threads. The work also utilizes spotlights placed at different angles, using the threads as a medium to cast shadows on nearby walls.
The installation consists of two mats that are 1260mm by 1188mm. A pair includes a robot on the floor and the ceiling within a 3D-printed shell. Threading Space uses toio robots (manufactured by Sony Entertainment). Threads connect the shells with a reel to allow them to shrink and grow as needed. As the robots move around on the ceiling and floor mats, the connected threads can form a wide variety of three dimensional shapes. The mats are ferromagnetic metal sheets covered by toio mats for toio robots to localize. Within the installation, ten pairs of robots can manipulate threads. The work also utilizes spotlights placed at different angles, using the threads as a medium to cast shadows on nearby walls.
Magnet
Magnet
Magnet
GUI Software Prototype
GUI Software Prototype
Within the installation, there are 10 pairs of robots that can manipulate threads. A pair includes a robot on the floor and the ceiling within a 3D printed shell. The shells are connected by threads, with a reel to allow the threads to shrink and grow as needed. As the robots move around on the ceiling and floor mats, the connected threads are able to form a wide variety of 3D shapes.
Floor & Ceiling Bot Illustration
The system consists of a GUI software, where the structure is visualized digitally on screen. Through this GUI, the user can not only observe the simulation of the structure, but also custom the movement of the entire structure such as shape and speed. Incorporating audience participants into the system through GUI, we strive to let the user co-create the kinetic sculpture real-time, truly turning the project into an interactive spatial experience.
Toio Robot
Magnet
3D Printed Case
Elastic String
Passive Reel Mechanism
Ceiling Magnet Sheet
Floor Magnet Sheet
HARDWARE DESIGN
HARDWARE DESIGN
We customized design of the floor and ceiling module to ensure stability and degree of freedom. On the left is a diagram of a floor robot module and its hardware setup, including a 3D printed shell, reel, and ball joint, as well as the metal sheet and toio mat on which the robot operates. The reel is composed of an outer reel shell, an inner reel with a spring, and a reel cap. On the right is a similar diagram for a ceiling module, with the same shell, ball joint, mat, and metal sheet, but no reel. Both shells are attached to a string to connect each pair of floor-ceiling robots.
We customized design of the floor and ceiling module to ensure stability and degree of freedom. On the left is a diagram of a floor robot module and its hardware setup, including a 3D printed shell, reel, and ball joint, as well as the metal sheet and toio mat on which the robot operates. The reel is composed of an outer reel shell, an inner reel with a spring, and a reel cap. On the right is a similar diagram for a ceiling module, with the same shell, ball joint, mat, and metal sheet, but no reel. Both shells are attached to a string to connect each pair of floor-ceiling robots.
SOFTWARE DESIGN
SOFTWARE DESIGN
To invite the audience to participate in this creative process, we developed a graphical user interface (GUI) that allows viewers to observe the motion and experiment with the sculpture in real-time to change the geometry or dynamism of the moving lines. The robots can adapt in real-time if they are off track, which invites interactions with the audience to intervene in their motion tangibly. Incorporating the audience into the system through an interactive GUI, we aim for this interactive installation to be a product of a co-created experience.
To invite the audience to participate in this creative process, we developed a graphical user interface (GUI) that allows viewers to observe the motion and experiment with the sculpture in real-time to change the geometry or dynamism of the moving lines. The robots can adapt in real-time if they are off track, which invites interactions with the audience to intervene in their motion tangibly. Incorporating the audience into the system through an interactive GUI, we aim for this interactive installation to be a product of a co-created experience.
Pre-programmed Animation
Pre-programmed Animation
Pre-programmed Animation
Custom Cylinder Demo
Custom Cylinder Demo
Custom Cylinder Demo
Custom Line/Wave Demo
Custom Line/Wave Demo
Custom Line/Wave Demo
FULL INSTALLATION
FULL INSTALLATION
Threading Space employs an animation system that supports two states: Display Mode and Interactive Mode. Display Mode cycles through predesigned animations, each designed to create a sensation of transforming a user’s perception of space, while Interactive Mode allows users to control and manipulate the animations with fine-grained control with a custom user interface. They can control the speed and other parameters of the floor and ceiling robots through sliders, allowing them to customize the animations.
Alongside the smooth 3D animations used in Interactive and Display Mode, Threading Space uses Path Planning to transition between the modes and animations. By traveling on a grid-based coordinate plane, the robots can automatically prevent collisions during more difficult transitions. The conglomeration of our hardware, animation system, and path planning algorithm brings Threading Space to life, creating a seamless, 3-dimensional, animated sculpture of strings and robots that provides the viewer with a front-row seat to a dynamic geometric experience.
Threading Space employs an animation system that supports two states: Display Mode and Interactive Mode. Display Mode cycles through predesigned animations, each designed to create a sensation of transforming a user’s perception of space, while Interactive Mode allows users to control and manipulate the animations with fine-grained control with a custom user interface. They can control the speed and other parameters of the floor and ceiling robots through sliders, allowing them to customize the animations.
Alongside the smooth 3D animations used in Interactive and Display Mode, Threading Space uses Path Planning to transition between the modes and animations. By traveling on a grid-based coordinate plane, the robots can automatically prevent collisions during more difficult transitions. The conglomeration of our hardware, animation system, and path planning algorithm brings Threading Space to life, creating a seamless, 3-dimensional, animated sculpture of strings and robots that provides the viewer with a front-row seat to a dynamic geometric experience.
Threading Space allows for a breadth of bodily interactions. Because of the floor-to-ceiling setup, the sculpture takes new forms based on the viewer’s position in the room, inviting the viewer to walk around and even through the installation. Due to the localization abilities of each robot, they can return to their animations, even when viewers disrupt their motions, allowing for purposeful entanglement and experimentation. Alongside interacting with each robot individually, users can interact with the sculpture itself. Users can even enter the sculpture during specific animations and interactive sequences, allowing them to view the animations from the inside.
Threading Space allows for a breadth of bodily interactions. Because of the floor-to-ceiling setup, the sculpture takes new forms based on the viewer’s position in the room, inviting the viewer to walk around and even through the installation. Due to the localization abilities of each robot, they can return to their animations, even when viewers disrupt their motions, allowing for purposeful entanglement and experimentation. Alongside interacting with each robot individually, users can interact with the sculpture itself. Users can even enter the sculpture during specific animations and interactive sequences, allowing them to view the animations from the inside.
Let’s make it happen!
Let’s make it happen!
Let’s make it happen!
Let’s make it happen!