Advances in Intelligent Systems and Computing 1359 Munir Merdan · Wilfried Lepuschitz · Gottfried Koppensteiner · Richard Balogh · David Obdržálek   Editors Robotics in Education RiE 2021 Advances in Intelligent Systems and Computing Volume 1359 Series Editor Janusz Kacprzyk, Systems Research Institute, Polish Academy of Sciences, Warsaw, Poland Advisory Editors Nikhil R. Pal, Indian Statistical Institute, Kolkata, India Rafael Bello Perez, Faculty of Mathematics, Physics and Computing, Universidad Central de Las Villas, Santa Clara, Cuba Emilio S. Corchado, University of Salamanca, Salamanca, Spain Hani Hagras, School of Computer Science and Electronic Engineering, University of Essex, Colchester, UK László T. Kóczy, Department of Automation, Széchenyi István University, Gyor, Hungary Vladik Kreinovich, Department of Computer Science, University of Texas at El Paso, El Paso, TX, USA Chin-Teng Lin, Department of Electrical Engineering, National Chiao Tung University, Hsinchu, Taiwan Jie Lu, Faculty of Engineering and Information Technology, University of Technology Sydney, Sydney, NSW, Australia Patricia Melin, Graduate Program of Computer Science, Tijuana Institute of Technology, Tijuana, Mexico NadiaNedjah,DepartmentofElectronicsEngineering,UniversityofRiodeJaneiro, Rio de Janeiro, Brazil Ngoc Thanh Nguyen , Faculty of Computer Science and Management, Wrocław University of Technology, Wrocław, Poland Jun Wang, Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong Theseries“AdvancesinIntelligentSystemsandComputing”containspublications on theory, applications, and design methods of Intelligent Systems and Intelligent Computing.Virtuallyalldisciplinessuchasengineering,naturalsciences,computer and information science, ICT, economics, business, e-commerce, environment, healthcare,lifesciencearecovered.Thelistoftopicsspansalltheareasofmodern intelligentsystemsandcomputingsuchas:computationalintelligence,softcomput- ingincludingneuralnetworks,fuzzysystems,evolutionarycomputingandthefusion of these paradigms, social intelligence, ambient intelligence, computational neuro- science, artificial life, virtual worlds and society, cognitive science and systems, Perception and Vision, DNA and immune based systems, self-organizing and adaptive systems, e-Learning and teaching, human-centered and human-centric computing, recommender systems, intelligent control, robotics and mechatronics including human-machine teaming, knowledge-based paradigms, learning para- digms,machineethics,intelligentdataanalysis,knowledgemanagement,intelligent agents, intelligent decision making and support, intelligent network security, trust management,interactiveentertainment,Webintelligenceandmultimedia. The publications within “Advances in Intelligent Systems and Computing” are primarily proceedings of important conferences, symposia and congresses. They cover significant recent developments in the field, both of a foundational and applicable character. An important characteristic feature of the series is the short publication time and world-wide distribution. This permits a rapid and broad dissemination of research results. Indexed by DBLP, INSPEC, WTI Frankfurt eG, zbMATH, Japanese Science and Technology Agency (JST). AllbookspublishedintheseriesaresubmittedforconsiderationinWebofScience. More information about this series at http://www.springer.com/series/11156 Munir Merdan Wilfried Lepuschitz (cid:129) (cid:129) Gottfried Koppensteiner (cid:129) žá Richard Balogh David Obdr lek (cid:129) Editors Robotics in Education RiE 2021 123 Editors Munir Merdan Wilfried Lepuschitz Practical Robotics Institute Austria (PRIA) Practical Robotics Institute Austria (PRIA) Vienna,Austria Vienna,Austria Gottfried Koppensteiner Richard Balogh Practical Robotics Institute Austria (PRIA) SlovakUniversity of Technology (STU) Vienna,Austria Bratislava, Slovakia DavidObdržálek CharlesUniversity Prague,Czech Republic ISSN 2194-5357 ISSN 2194-5365 (electronic) Advances in Intelligent Systems andComputing ISBN978-3-030-82543-0 ISBN978-3-030-82544-7 (eBook) https://doi.org/10.1007/978-3-030-82544-7 ©TheEditor(s)(ifapplicable)andTheAuthor(s),underexclusivelicense toSpringerNatureSwitzerlandAG2022 Thisworkissubjecttocopyright.AllrightsaresolelyandexclusivelylicensedbythePublisher,whether thewholeorpartofthematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseof illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmissionorinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilar ordissimilarmethodologynowknownorhereafterdeveloped. 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ThisSpringerimprintispublishedbytheregisteredcompanySpringerNatureSwitzerlandAG Theregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,Switzerland Preface Wearehonoredtopresenttheproceedingsofthe12thInternationalConferenceon Robotics in Education (RiE), which was carried out as a purely virtual conference fromApril28to30,2021.WhileoriginallyplannedtobeheldinBratislava,Slovak Republic, being already the second try after 2020, the conference had to be turned into a purely virtual event due to the COVID-19 pandemic. The international conferenceonroboticsineducationisorganizedeveryyearwiththegoaltoprovide theopportunityforthepresentationofrelevantnovelresearchanddevelopmentina strongly multidisciplinary context in the educational robotics domain. Educational robotics is an innovative way for increasing the attractiveness of science education and scientific careers in the view of young people. Robotics representsamultidisciplinaryandhighlyinnovativedomainencompassingphysics, mathematics,informaticsandevenindustrialdesignaswellassocialsciences.Asa multidisciplinary field, it promotes the development of systems thinking and problem solving. Due to various application areas, teamwork, creativity and entrepreneurial skills are required for the design, programming and innovative exploitation of robots and robotic services. The fascination for autonomous machinesandthevarietyoffieldsandtopicscoveredmakeroboticsapowerfulidea to engage with. Robotics confronts the learners with the areas of Science, Technology, Engineering, Arts and Mathematics (STEAM) through the design, creation and programming of tangible artifacts for creating personally meaningful objects and addressing real-world societal needs. Thus, young girls and boys can easily connect robots to their personal interests and share their ideas. As a conse- quence, it is regarded as very beneficial if engineering schools and university programstudiesincludetheteachingofboththeoreticalandpracticalknowledgeon robotics. In this context, current curricula need to be improved, and new didactic approaches for an innovative education need to be developed for improving the STEAM skills among young people. Moreover, an exploration of the multidisci- plinarypotentialofroboticstowardaninnovativelearningapproachisrequiredfor fostering the pupils’ and students’ creativity leading to collaborative entrepre- neurial, industrial and research careers. v vi Preface In these proceedings, we present methodologies and technologies for teaching and learning in the field of educational robotics. The book offers insights into the latest research, developments and results regarding curricula, activities and their evaluation. Moreover, the book introduces interesting programming approaches as well as new applications, technologies, systems and components for educational robotics. The presented applications cover the whole educative range, from kindergarten, primary and secondary school, to the university level and beyond. Besides, some contributions especially focus on teachers and their role in educa- tional robotics. In total, 40 papers were submitted and 29 papers are now part of these proceedings after a careful peer-review process. We would like toexpress our thanks to all authors who submitted papers to RiE 2021, and our congratula- tions to those whose papers were accepted. This publication would not have been possible without the support of the RiE International Program Committee and the Conference Co-Chairs. All of them deserve many thanks for having helped to attain the goal of providing a balanced event with a high level of scientific exchange and a pleasant environment. We acknowledgetheuseoftheEasyChairconferencesystemforthepapersubmission and review process. We would also like to thank Dr. Thomas Ditzinger and Mr. Nareshkumar Mani from Springer for providing continuous assistance and advice whenever needed. Organization Committee Co-chairpersons Balogh Richard Slovak University of Technology in Bratislava, Slovakia Lepuschitz Wilfried Practical Robotics Institute Austria, Austria Obdržálek David Charles University in Prague, Czech Republic International Program Committee Alimisis Dimitris EDUMOTIVA (European Lab for Educational Technology), Greece Bellas Francisco Universidade da Coruña, Spain Castro-Gonzalez Alvaro Universidad Carlos III de Madrid, Spain Čehovin Luka University of Ljubljana, Slovenia Chevalier Morgane HEP-Vaud, Switzerland Christoforou Eftychios University of Cyprus, Cyprus Demo Barbara Universita Torino, Italy Dessimoz Jean-Daniel Western Switzerland University of Applied Sciences and Arts, Switzerland Dias André INESC Porto – LSA/ISEP, Portugal Duro Richard Universidade da Coruña, Spain Ebner Martin Graz University of Technology, Austria Eguchi Amy University of California San Diego, USA Eteokleous Nikleia Frederick University Cyprus, Cyprus Ferreira Hugo LSA-ISEP, Portugal Ferreira João Institute of Engineering of Coimbra, Portugal Ferreira Nuno Institute of Engineering of Coimbra, Portugal Fislake Martin University of Koblenz, Germany vii viii Organization Gerndt Reinhard Ostfalia University of Applied Sciences, Germany Gonçalves José ESTiG-IPB, Portugal Hofmann Alexander UniversityofAppliedSciencesTechnikumWien, Austria Jäggle Georg Vienna University of Technology, Austria Kandlhofer Martin Graz University of Technology, Austria Kasyanik Valery Brest State Technical University, Belarus Kazed Boualem University of Blida, Algeria Krajník Tomáš Czech Technical University in Prague, Czech Republic Kulich Miroslav Czech Technical University in Prague, Czech Republic Leoste Janika Tallinn University, Estonia Lucny Andrej Comenius University, Slovakia Mallela Praneeta DEKA Research & Development Corporation, USA Malvezzi Monica University of Siena, Italy Mantzanidou Garyfalia Primary Education School, Greece Martins Alfredo Instituto Superior de Engenharia do Porto, Portugal Menegatti Emanuele University of Padua, Italy Mikova Karolina Comenius University, Slovakia Mora Marta Covadonga Universitat Jaume I, Spain Moro Michele DEI UNIPD Padova, Italy Negrini Lucio SUPSI, Switzerland Papakostas George EMT Institute of Technology, Greece Paya Luis Universidad Miguel Hernández, Spain Petrovic Pavel Comenius University, Slovakia Pina Alfredo Public University of Navarra, Spain Portugal David University of Coimbra, Portugal Postma Marie Tilburg University, Netherlands Reinoso Oscar Universidad Miguel Hernández, Spain Sansone Nadia Sapienza University of Rome, Italy Schmoellebeck Fritz UniversityofAppliedSciencesTechnikumWien, Austria Thiruvathukal George Loyola University Chicago, USA Usart Mireia Universitat Rovira i Virgili, Spain Valente Antonio UTAD University, Portugal Valiente David Universidad Miguel Hernández, Spain Yudin Anton Bauman Moscow State Technical University, Russia Zapatera Alberto Universidad CEU Cardenal Herrera, Spain Organization ix Local Conference Organization Koppensteiner Gottfried Practical Robotics Institute Austria, Austria Merdan Munir Practical Robotics Institute Austria, Austria