This chapter describes EMCAR, a novel software tool for programming robot motion that leverages the unique affordances of artistic practices such as puppetry and drawing to conceive, design, and program novel interactions and realize new use cases for HRI. The advantage of this no-code platform is that it expands creative and cultural applications for collaborative robots by putting robots directly in the hands of artists, enabling creative individuals with little or no technical backgrounds to engage meaningfully in collaborations and robotics research.