Our paper about FLEX-SDK, a suite of tools that allow creating programmable social robots with two tablets, was recently published at UIST 2022.
You can find out more at the GitHub Wiki for FLEX-SDK and try the tools on your browser without installing anything. See the paper for examples of use cases for FLEX-SDK.
FLEX-SDK: An Open-Source Software Development Kit for Creating Social Robots. Patricia Alves-Oliveira, Kai Mihata, Raida Karim, Elin A Bjorling, Maya Cakmak. ACM Symposium on User Interface Software and Technology (UIST), 2022.