# Cuddle-Fish: Exploring a Soft Floating Robot with Flapping Wings for Physical Interactions

arXiv: https://arxiv.org/abs/2504.01293 · HTML: https://mlsanity.com/paper/2504.01293/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 2 Apr 2025.

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

- [Semantic Glitch: Agency and Artistry in an Autonomous Pixel Cloud](https://mlsanity.com/paper/2511.16048/) (2025)

## Abstract (arXiv)

Flying robots, such as quadrotor drones, offer new possibilities for human-robot interaction but often pose safety risks due to fast-spinning propellers, rigid structures, and noise. In contrast, lighter-than-air flapping-wing robots, inspired by animal movement, offer a soft, quiet, and touch-safe alternative. Building on these advantages, we present Cuddle-Fish, a soft flapping-wing floating robot designed for close-proximity interactions in indoor spaces. Through a user study with 24 participants, we explored their perceptions of the robot and experiences during a series of co-located demonstrations in which the robot moved near them. Results showed that participants felt safe, willingly engaged in touch-based interactions with the robot, and exhibited spontaneous affective behaviours, such as patting, stroking, hugging, and cheek-touching, without external prompting. They also reported positive emotional responses towards the robot. These findings suggest that the soft floating robot with flapping wings can serve as a novel and socially acceptable alternative to traditional rigid flying robots, opening new potential for applications in companionship, affective interaction, and play in everyday indoor environments.