# RoomShift: Room-scale Dynamic Haptics for VR with Furniture-moving Swarm Robots

arXiv: https://arxiv.org/abs/2008.08695 · HTML: https://mlsanity.com/paper/2008.08695/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 19 Aug 2020.

## Built on by (most cited first, 1 of 1)

- [Augmented Reality and Robotics: A Survey and Taxonomy for AR-enhanced Human-Robot Interaction and Robotic Interfaces](https://mlsanity.com/paper/2203.03254/) (2022)

## Abstract (arXiv)

RoomShift is a room-scale dynamic haptic environment for virtual reality, using a small swarm of robots that can move furniture. RoomShift consists of nine shape-changing robots: Roombas with mechanical scissor lifts. These robots drive beneath a piece of furniture to lift, move and place it. By augmenting virtual scenes with physical objects, users can sit on, lean against, place and otherwise interact with furniture with their whole body; just as in the real world. When the virtual scene changes or users navigate within it, the swarm of robots dynamically reconfigures the physical environment to match the virtual content. We describe the hardware and software implementation, applications in virtual tours and architectural design and interaction techniques.