PhoneBot：スマートフォンを再利用した低コスト・オープンなヒューマノイドロボットプラットフォーム
PhoneBot: A Low-Cost Open Humanoid Robot Platform Reusing Smartphones
スマートフォンを主要なセンサ・計算ユニットとして再利用し、低コストでオープンソースのヒューマノイドロボットを実現した。歩行や視覚追従、会話、撮影、遠隔操作などの機能を実証している。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
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6. 次に読むべき論文は？
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著者: Ruochen Hou, Quanyou Wang, Daniel Koh, Dennis W. Hong
分類: cs.RO
原文アブストラクト
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.