AGENTS
TOWARD PLAYFUL MACHINES AND CURIOUS AGENTS
HRI RESEARCH
BY MILOS ROGLIC
PLACE
TOOLS
DATE
AUDIENCE
School of Machines, Making & Make-Believe, Bethanien Creative Quarter, Berlin
p5js, xArm, custom built libs for collaborative drawing and realtime robot control (js, websockets, Python, Unity, ROS, RoboDK)
August 2024, Instagram
10 (artists, creative coders, robotic enthusiasts, architects, or anyone willing to explore new ways of drawing)
In this workshop, we explore the collaborative possibilities between humans and machines through the co-creation of mandala art using a robotic arm and open-source tools. Mandalas have been used for centuries as tools for meditation and are seen as reflections of the universe and ourselves within it. They symbolize not only interconnectedness but also the transient nature of existence - traditionally, on the final day, monks sweep up the mandala. In this workship mandala is a medium to reflect on human-machine collaboration and investigate where an artist's agency lies in the process. Along the way, we also learn technical aspects: the basics of robotics, kinematics, websockets, gcode, p5.js.
Recording of collaboratively creating a mandala. Each participant can create their own pattern using p5.js, which is then projected around one of the concentric circles of the mandala on the shared canvas. All changes are in real time. On the left side, the shared canvas with the mandala is shown, where each participant can see the changes. On the right side, six sketches from six participants are shown as they design and change parameters.
Brief Technical Details
Custom-made Unity project for precise real-time control of a robotic arm. It communicates with a Python backend (via WebSocket), which further issues robot commands using the xArm API. A P5.js client simulation and collaborative drawing app also communicate with the same backend. Currently, the Unity app also connects with ROS and RoboDK, enabling more advanced capabilities such as precise toolpaths.
The workshop centers on collaborative drawing between humans and the robot to create a mandala. It consists of five parts:
Part I - Hi, I am Cobot!
Participants will learn basic robotic concepts such as arm manipulation and control using common move commands. Comparisons to pen plotters, including pros and cons, will be explained. The G-code language and a p5.js library I am developing for real-time G-code generation and execution from p5.js sketches will be introduced, providing immediacy for drawing with code. A demonstration will use a portable, 6-axis cobot (Ufactory Lite6), with concepts applicable to a wide range of robotic arms.
Part II - Let's collaborate!
Introduction to real-time collaborative drawing using open-source tools (p5.js, WebSockets). Participants are introduced to WebSockets and how they can be used for collaborative applications. A library I am developing will be introduced as a wrapper around p5.js functions to allow seamless, collaborative, and remote drawing on a shared canvas.
Part III - Mandala Meditation
The final artwork is a mandala created collaboratively by all participants and the robotic arm. Participants receive a brief introduction to the cultural context of mandalas. Each participant designs a unique colored pattern using p5.js, which is symmetrically scattered around a circle with a unique radius. Updates from each participant are reflected in real-time on a shared canvas. By the end, participants collaboratively paint within the outline of mandala, adding a final collective touch.
Part IV - Reflection
Generative artists increasingly seek to bring digital artwork "off the screen" to capture the tangible essence unique to reality. The workshop will also critically reflect on the role of machines in contemporary art creation by posing questions:
- How does the robotic arm's role differ from traditional tools, and how do its precision and capabilities influence the creative process?
- Is the robot merely an executor of commands, or does it hold a more significant role in bringing a vision to life?
- In what ways does the integration of digital tools and robotic technology expand or limit artistic expression and creativity?
Part V - Dissolution
The final mandala is exhibited and later erased by robotic arm, symbolizing impermanence of existence. Drawings can be on a chalkboard or whiteboard for easier erasing.