Abstract
This paper presents a new software framework for HRI experimentation with the sixth version of the common NAO robot produced by the United Robotics Group. Embracing the common demand of researchers for better performance and new features for NAO, the authors took advantage of the ability to run ROS2 onboard on the NAO to develop a framework independent of the APIs provided by the manufacturer. Such a system provides NAO with not only the basic skills of a humanoid robot such as walking and reproducing movements of interest but also features often used in HRI such as: speech recognition/synthesis, face and object detention, and the use of Generative Pre-trained Transformer (GPT) models for conversation. The developed code is therefore configured as a ready-to-use but also highly expandable and improvable tool thanks to the possibilities provided by the ROS community.
Abstract (translated)
本文介绍了一种新的机器人人机交互（HRI）实验软件框架，用于使用第六版由美国机器人集团开发的共同机器人NAO。为了满足研究人员对NAO的更好性能和新技术的需求，作者利用了NAO上运行ROS2的能力，开发了一个独立于制造商提供的API的框架。这样的系统不仅提供了类似于人类机器人的人类基本技能（如行走和感兴趣的运动复制），还提供了HRI中经常使用的功能，如语音识别/合成、面部和物体检测以及使用生成预训练Transformer（GPT）模型进行对话。因此，所开发的代码被配置为一种易于使用但高度可扩展和可修改的工具，得益于机器人社区提供的可能性。
URL
https://arxiv.org/abs/2403.13960
