发表机构
University of California, Los Angeles（加利福尼亚大学洛杉矶分校）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
PhoneBot利用智能手机作为感知和计算核心，结合13个低成本执行器，构建了低成本开源人形机器人平台，实现稳定行走、视觉跟随和交互，适用于教育和研究。
AI 中文摘要
人形机器人在教育和研究领域的应用受到高硬件成本、复杂传感系统和大量计算需求的限制。本文介绍了PhoneBot，一个低成本、开源的人形机器人平台，该平台将商用智能手机重新用作其主要传感和计算单元。通过利用智能手机内置的惯性测量单元（IMU）、摄像头、无线连接和板载处理能力，PhoneBot降低了硬件成本并简化了系统架构。该机器人将模块化下肢结构与13个低成本执行器驱动的躯干安装式智能手机相结合，支持感知、控制计算和用户交互。我们描述了支撑稳定运动以及基于视觉的人体跟随、对话交互、拍摄和移动远程临场等能力的机械设计、软件架构和实时通信框架。实验评估证明了使用现成消费级智能手机的可靠行走、感知驱动交互和直接部署。凭借完全开源的硬件和软件设计，PhoneBot为教育、研究和快速原型开发提供了一个经济实惠、可复制的平台。更多详情请访问此https URL。
英文摘要
The adoption of humanoid robots in education and research remains limited by high hardware costs, complex sensing systems, and substantial computational requirements. This paper presents PhoneBot, a low-cost, open-source humanoid robot platform that repurposes commodity smartphones as its primary sensing and computing unit. By using a smartphone's integrated inertial measurement unit (IMU), camera, wireless connectivity, and onboard processing capabilities, PhoneBot reduces hardware costs and simplifies the system architecture. The robot combines a modular lower-body structure driven by 13 low-cost actuators with a torso-mounted smartphone that supports perception, control computation, and user interaction. We describe the mechanical design, software architecture, and real-time communication framework that support stable locomotion and capabilities including vision-based human following, conversational interaction, filming, and mobile telepresence. Experimental evaluations demonstrate reliable walking, perception-driven interaction, and straightforward deployment using off-the-shelf consumer smartphones. With fully open-source hardware and software designs, PhoneBot provides an affordable, reproducible platform for education, research, and rapid prototyping. More details are available at https://phonebot.dev.
