Abstract
We introduce PuppetAI, a modular soft robot interaction platform. This platform offers a scalable cable-driven actuation system and a customizable, puppet-inspired robot gesture framework, supporting a multitude of interaction gesture robot design formats. The platform comprises a four-layer decoupled software architecture that includes perceptual processing, affective modeling, motion scheduling, and low-level actuation. We also implemented an affective expression loop that connects human input to the robot platform by producing real-time emotional gestural responses to human vocal input. For our own designs, we have worked with nuanced gestures enacted by "soft robots" with enhanced dexterity and "pleasant-to-touch" plush exteriors. By reducing operational complexity and production costs while enhancing customizability, our work creates an adaptable and accessible foundation for future tactile-based expressive robot research. Our goal is to provide a platform that allows researchers to independently construct or refine highly specific gestures and movements performed by social robots.
Abstract (translated)
我们介绍PuppetAI，这是一种模块化软机器人交互平台。该平台提供了一种可扩展的电缆驱动执行系统和一个受提线木偶启发、可根据需求定制化的机器人手势框架，支持多种互动手势机器人的设计格式。平台采用了四层解耦软件架构，包括感知处理、情感建模、动作调度以及低级执行等模块。 我们还实现了一个情感表达循环，通过生成实时的情感手势反应来将人类的声音输入与机器人平台相连结，从而使得该平台能够根据人类的语音输入产生即时反馈。在我们的设计中，我们利用了由柔软材料制成且具有增强灵活性和触感舒适的“软机器人”，执行细腻的手势动作。 通过降低操作复杂性和生产成本并提高定制化能力，我们的工作为未来基于触觉的情感表达机器人的研究建立了一个灵活易用的基础平台。我们的目标是提供一个平台，允许研究人员独立构建或改进由社交机器人执行的高度特定手势和运动。
URL
https://arxiv.org/abs/2602.04787
