自然な人間対話を実現する受付ロボット用多関節ヒューマノイドヘッド
Articulated Humanoid Head for a Robot Receptionist Capable of Natural Human Interaction
受付業務向けに、21自由度の表情・首機構とシリコン皮膚を持つヒューマノイドヘッドを開発し、顔認識・自然言語処理を統合してリアルタイム対話と再識別を実現した。ユーザー評価で人間らしさ4.13/5を達成。
著者: Tharusha Fonseka, Charuka Bandara, Moshintha Hewavitharana, Melisa Arukgoda, Wageesha N. Manamperi, Udaya S. K. Perera Miriya Thanthrige, Peshala Jayasekara
分類: cs.RO, cs.CV, eess.IV
原文アブストラクト
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.