用于多模态人机交互的人形机器人原型开发
Development of a Humanoid Robot Prototype for Multimodal Human-Robot Interaction
- University of Engineering and Technology, Vietnam National University, Hanoi（越南国家大学河内工程技术大学）
- School of Information Science, Japan Advanced Institute of Science and Technology（日本先进科学技术学院信息科学学院）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
本文开发了一款集成手势识别、目标检测、语音命令处理等AI模块的人形机器人原型，经实验验证其定位精度高、任务准确率超90%，可作为人机交互研究的易用平台。
AI中文摘要：
人机交互（HRI）使人与机器人能在真实环境中实现直观智能的协作。本文介绍一款人形机器人原型，其被设计为灵活的测试平台，用于开发和集成人机交互任务中的人工智能（AI）模块。该系统包含12个自由度（DOFs）的双臂机构，以及带有可表达面部情绪的LCD屏幕的2个自由度（DOFs）头部。所有硬件组件均由定制设计的控制器板控制，板上搭载的Jetson模块支持实时AI处理。该平台集成了三个AI模块：（1）使用MediaPipe Pose和LSTM分类器的手势识别；（2）基于YOLO的目标检测与3D定位；（3）通过语音识别和基于大语言模型（LLM）的语义解析实现的语音命令处理。该系统通过定位精度实验进行验证，结果显示平均操作误差约为1.83厘米。为展示其通用性，实验结果显示任务准确率超过90%，其中手势识别准确率达96%，语音识别准确率达92%。结果证实，所提出的系统是一款可复现且易于使用的人形平台，适用于人机交互领域的研究与原型开发。
英文摘要：
Human-robot interaction (HRI) enables intuitive and intelligent collaboration between humans and robots in real-world environments. This paper introduces a humanoid robot prototype designed as a flexible testbed for developing and integrating artificial intelligence (AI) modules in HRI tasks. The system features a 12 degree-of-freedom (DOFs) dual-arm mechanism and a 2 DOFs head with an expressive LCD screen to express facial emotions. All hardware components are controlled by a custom-designed controller board with real-time AI processing supported by an onboard Jetson module. The system incorporates three AI modules: (1) gesture recognition using MediaPipe Pose and an LSTM classifier, (2) object detection with YOLO and 3D localization, and (3) voice-command processing through speech recognition and large language model(LLM)-based semantic parsing. The platform is validated through experiments on positioning accuracy, with results showing average manipulation errors of approximately 1.83 cm. To demonstrate its versatility, experimental results show over 90% task accuracy, with gesture recognition reaching 96%, speech recognition reaching 92%. The results confirm the effectiveness of the proposed system as a reproducible and accessible humanoid platform for research and prototyping in HRI.
