发表机构
Engineered Arts; Realbotix; Columbia University（工程艺术公司; Realbotix公司; 哥伦比亚大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对现有人形机器人头部的局限，提出用于接待员的关节式人形机器人头部，集成21自由度机械结构与逼真皮肤，结合多种模型进行人脸识别和自然语言处理，经测试和评估，其对话、重新识别及类人等能力表现良好。
AI 中文摘要
人形机器人在社交互动、教育和服务等应用中越来越受欢迎，这推动了对更自然高效的人机交互的需求。然而，现有人形头部常面临成本高、机械复杂和环境适应性有限等问题。为应对这些挑战，我们提出了一种用于接待员角色的关节式人形机器人头部，其机械结构有21个自由度，包括嘴、眼、眉和颈部的机制，覆盖逼真硅胶皮肤以实现类人外观和表情。该系统集成了基于模型的架构，结合SCRFD、ArcFace和ByTetrack进行人脸识别，Llama和Whisper进行自然语言处理，硬件支持实现实时操作和人体重新识别。通过定量测量其对话能力和重新识别能力，并通过用户研究评估其情感表达和类人性，平均类人分数达到4.13分（满分5分）。
英文摘要
Humanoid robots have become increasingly popular in applications such as social interaction, education, and service roles, which drives the need for more natural and efficient human-robot interactions. However, currently available humanoid heads often face limitations, including high costs, mechanical complexity, and limited adaptability across diverse environments. To address these challenges, we present an articulated humanoid robot head designed for a receptionist role, integrating a mechanical structure with 21 degrees of freedom (DoF), including mechanisms for the mouth, eyes, eyebrows, and neck, and covered with realistic silicone skin to achieve a human-like appearance and expression. The system integrates a model-based architecture that combines SCRFD, ArcFace, and ByTetrack for face recognition and Llama and Whisper for natural language processing, with hardware support enabling real-time operations and human re-identification. The conversational ability and re-identification capabilities of the humanoid robot head were quantitatively measured, while its emotional expressiveness and human likeness were evaluated through a user study, achieving an average human likeness score of 4.13 out of 5.
CommentsThis work is accepted at IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2026)
Journal refIEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2026)
