21自由度机器人头实现自然人机交互，外观逼真且可实时对话
Articulated Humanoid Head for a Robot Receptionist Capable of Natural Human Interaction
- 21自由度机械结构+硅胶仿真人皮，支持表情与眼神变化
- 融合人脸识别与语音处理模型，实现实时对话与身份识别
- 用户评测显示外观真实度达4.13/5，适合服务场景应用
类人机器人在社交互动、教育和服务等场景中的应用日益广泛，推动对更自然高效人机交互的需求。然而现有类人头部普遍存在成本高、机械结构复杂及环境适应性差等问题。为此，本文提出一种面向接待员角色的可动类人机器人头部，集成21个自由度的机械结构，涵盖嘴部、眼睛、眉毛和颈部动作，外覆真实感硅胶皮肤以实现类人外观与表情。系统采用基于模型的架构，结合SCRFD、ArcFace与ByTetrack进行人脸检测与识别，利用Llama和Whisper实现自然语言处理，并通过硬件支持实现实时运行与人类再识别。通过定量测试评估了其对话能力与重识别性能，同时通过用户研究评价其情感表达与类人程度，平均类人度得分为4.13（满分5分）。
原文摘要 · Abstract (English)
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.
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