2020. 10. 28

We propose “Calmbots” that is a novel user interface utilizing insects’ capabilities such as mobility, self-maintenance, and hiding. In Calmbots, we utilize Madagascar cockroach and control multiple cockroaches by electrical stimulation to use them as display (by making them as pixels) and object transportation, or make them attach pens for drawing lines. Further, Calmbots can be used as input or haptic interfaces or audio device. We make the following novelties. First, we controlled Madagascar cockroaches with high mobility of moving across walls, carpets, and the floor with cables, where robots are difficult to achieve. Second, we devised option parts attached to cockroaches, making them capable of drawing lines and transporting objects. Third, we controlled multiple cockroaches effectively by developing the control based on the principle of worker ants, which exists in a swarm of ants. When there appear out-of-control cockroaches, we utilized the substitute cockroaches to continue the ongoing task.


Yuga Tsukuda, Tagami Daichi, Masaaki Sadasue, Shieru Suzuki, Jun-Li Lu, Yoichi Ochiai




author = {Yuga Tsukuda},
title = {Calmbots},
note = {\url{}},
year = {2020},
month = {October}


Yuga Tsukuda, Daichi Tagami, Masaaki Sadasue, Shieru Suzuki, Jun-Li Lu, Yoichi Ochiai. (2022). Calmbots: Exploring Madagascar Cockroaches as Living Ubiquitous Interfaces. In: Antona, M., Stephanidis, C. (eds) Universal Access in Human-Computer Interaction. Novel Design Approaches and Technologies. HCII 2022. Lecture Notes in Computer Science, vol 13308. Springer, Cham.

Yuga Tsukuda, Daichi Tagami, Masaaki Sadasue, Shieru Suzuki, Jun-Li Lu and Yoichi Ochiai. 2022. Calmbots: Exploring Possibilities of Multiple Insects with On-hand Devices and Flexible Controls as Creation Interfaces. In CHI Conference on Human Factors in Computing Systems Extended Abstracts (CHI EA ’22). Association for Computing Machinery, New York NY United States, Article No.9, Pages 1–13,