We have created a Game Design Taxonomy that integrates essential aspects that should be considered when designing playful experiences using social robots. When designing games using social robots, designers and researchers are constantly challenged to identify elements that can foster interaction with humans, improve the engagement and fun of playing the games while maximizing the robot's capabilities. The Robo Ludens taxonomy includes two main categories that have used to classify the characteristics from both the robot and the games:

"The Robo Ludens Taxonomy intends to encompass interaction paradigms, design considerations, game characteristics and categories as well as robot capabilities and their relationship with the players and the expected human behaviors"

MUñOZ, John Edison, and Kerstin Dautenhahn. "Robo Ludens: A Game Design Taxonomy for Multiplayer Games Using Socially Interactive Robots." ACM Transactions on Human-Robot Interaction (THRI) 10.4 (2021): 1-28. Download here.