Morphology Exploration Blocks (MEB) is an open toolkit for exploring robot morphology through modular 3D-printable blocks. It was developed to support morphology ideation and analysis in Human–Robot Interaction (HRI) research.
Photo credit: Rachel Robey
MEB allows designers and researchers to quickly prototype robot forms by assembling modular blocks with embedded magnets.
Applications include:
- robot morphology exploration
- design workshops
- HRI education
- morphology analysis (for analysis examples, see images/MEB_Catalog.pdf)
- Download STL files
- 3D print blocks
- Insert magnets
- Assemble and explore robot morphology
Recommended settings:
Layer height: 0.2 mm
Material: PLA
Infill: 20%
Magnets: 4.3×9mm(diametrically) and 5x2.8mm(axial) Cylinder Magnets Glue: 3D Printer Superglue Gel (if you are not printing with PLA, choose the one that fits your material)
See /assembly.
See /workshop.
If you use MEB in your research, please cite:
Koike et al., 2026.
CERN-OHL-W-2.0
Morphology Exploration Blocks (MEB) were developed based on a morphological analysis of various existing robots. The block geometries are simplified and abstract representations created for research and educational purposes.
These blocks do not replicate or represent any specific commercial robot. All designs are original abstractions intended to support morphology exploration in Human–Robot Interaction (HRI) research.
The Morphology Exploration Blocks (MEB) were designed by Amy Koike.
This repository is hosted under the People and Robots Lab organization.
For questions about the block design, workshops, or collaboration, please contact:
Amy Koike
University of Wisconsin-Madison
ekoike@wisc.edu