让四足机器人通过手势控制并做出自然社交动作，提升老年人互动体验。
Towards Senior-Robot Interaction: Reactive Robot Dog Gestures
- 用媒体管道识别手部和头部动作，实现无遥控手势控制
- 在仿真中成功训练出站立、三腿平衡等复杂动作，平均成功率超95%
- 验证了拍爪等社交动作的可行性，适合老年用户陪伴场景
随着全球人口老龄化，许多老年人面临孤独问题。陪伴型机器人提供了潜在解决方案，但当前陪伴机器人功能有限，而任务导向型机器人又缺乏社交设计，限制了其在老年人中的适用性和接受度。本文提出一种面向老年人的四足机器人系统，支持更直观的用户输入和更具社会表达力的输出。输入方面，采用基于MediaPipe的手势与头部动作识别模块，实现无需遥控的交互；输出方面，在Isaac Gym中通过课程式强化学习训练机器人狗完成从基础站立到三足平衡、腿部伸展等动作。仿真测试平均成功率超过95%，并在Unitree机器人上验证了关键社交动作（拍爪）的有效性。真实世界测试表明该框架具备可行性和社交表现力，同时揭示了仿真到现实迁移中关节柔顺性、负载分配与平衡控制的挑战。本工作推动了实用四足机器人作为老年社交伴侣的发展，并为仿真到现实的适应路径及未来用户研究提供了方向。
原文摘要 · Abstract (English)
As the global population ages, many seniors face the problem of loneliness. Companion robots offer a potential solution. However, current companion robots often lack advanced functionality, while task-oriented robots are not designed for social interaction, limiting their suitability and acceptance by seniors. Our work introduces a senior-oriented system for quadruped robots that allows for more intuitive user input and provides more socially expressive output. For user input, we implemented a MediaPipe-based module for hand gesture and head movement recognition, enabling control without a remote. For output, we designed and trained robotic dog gestures using curriculum-based reinforcement learning in Isaac Gym, progressing from simple standing to three-legged balancing and leg extensions, and more. The final tests achieved over 95\% success on average in simulation, and we validated a key social gesture (the paw-lift) on a Unitree robot. Real-world tests demonstrated the feasibility and social expressiveness of this framework, while also revealing sim-to-real challenges in joint compliance, load distribution, and balance control. These contributions advance the development of practical quadruped robots as social companions for the senior and outline pathways for sim-to-real adaptation and inform future user studies.
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