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.

翻译：机器人形态学，即机器人的形态、外形与结构，是人机交互（HRI）中的一个关键设计维度，它塑造着机器人的功能、自我表达方式以及与人类的互动模式。然而，尽管其重要性不言而喻，关于设计框架如何能够指导系统性的形态探索，目前所知甚少。为填补这一空白，我们提出了“机器人形态学要素”框架，该框架识别了五个基本要素：感知、关节、末端执行器、运动方式与结构。该框架源于对现有机器人的分析，旨在支持对不同机器人形态进行结构化探索。为将该框架付诸实践，我们开发了“形态探索积木”（Morphology Exploration Blocks, MEB），这是一套实体积木，支持对机器人形态进行动手操作与协作式实验。我们通过一个案例研究和若干设计工作坊对该框架与工具包进行了评估，结果表明它们能够有效支持分析、构思、反思以及协作式机器人设计。