M 是一个可模块化改造的低成本社交机器人，助力真实场景研究。
Introducing M: A Modular, Modifiable Social Robot
- 模块化机械+ROS2软件，支持快速复现与修改
- 实测支持家庭长期部署与参与式设计
- 开源可扩展，适合长期社交机器人实验
我们提出 M，一个开源、低成本的社交机器人平台，旨在降低社会机器人研究中的平台障碍，使机器人更易复制、修改和部署于真实环境。M 结合模块化机械结构、多模态传感及表达简单但功能丰富的驱动架构，并配备原生 ROS2 的软件包，清晰分离感知、表情控制与数据管理。平台包含与硬件接口一致的仿真环境，支持交互行为的快速仿真到现实迁移。通过增加传感/执行模块展示可扩展性，并提供故事讲述与双向对话辅导的交互模板。最终在参与式设计与为期一周的家庭部署中验证了其实用性，证明 M 可作为长期、可复现的社会机器人研究基础。
原文摘要 · Abstract (English)
We present M, an open-source, low-cost social robot platform designed to reduce platform friction that slows social robotics research by making robots easier to reproduce, modify, and deploy in real-world settings. M combines a modular mechanical design, multimodal sensing, and expressive yet mechanically simple actuation architecture with a ROS2-native software package that cleanly separates perception, expression control, and data management. The platform includes a simulation environment with interface equivalence to hardware to support rapid sim-to-real transfer of interaction behaviors. We demonstrate extensibility through additional sensing/actuation modules and provide example interaction templates for storytelling and two-way conversational coaching. Finally, we report real-world use in participatory design and week-long in-home deployments, showing how M can serve as a practical foundation for longitudinal, reproducible social robotics research.
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