Real-Time Synchronized Interaction Framework for Emotion-Aware Humanoid Robots
Fuente:
arXiv
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| Autori principali: | , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| _version_ | 1866917220535238656 |
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| author | Chen, Yanrong Bian, Xihan |
| author_facet | Chen, Yanrong Bian, Xihan |
| contents | As humanoid robots increasingly introduced into social scene, achieving emotionally synchronized multimodal interaction remains a significant challenges. To facilitate the further adoption and integration of humanoid robots into service roles, we present a real-time framework for NAO robots that synchronizes speech prosody with full-body gestures through three key innovations: (1) A dual-channel emotion engine where large language model (LLM) simultaneously generates context-aware text responses and biomechanically feasible motion descriptors, constrained by a structured joint movement library; (2) Duration-aware dynamic time warping for precise temporal alignment of speech output and kinematic motion keyframes; (3) Closed-loop feasibility verification ensuring gestures adhere to NAO's physical joint limits through real-time adaptation. Evaluations show 21% higher emotional alignment compared to rule-based systems, achieved by coordinating vocal pitch (arousal-driven) with upper-limb kinematics while maintaining lower-body stability. By enabling seamless sensorimotor coordination, this framework advances the deployment of context-aware social robots in dynamic applications such as personalized healthcare, interactive education, and responsive customer service platforms. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2601_17287 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Real-Time Synchronized Interaction Framework for Emotion-Aware Humanoid Robots Chen, Yanrong Bian, Xihan Robotics I.2.9 As humanoid robots increasingly introduced into social scene, achieving emotionally synchronized multimodal interaction remains a significant challenges. To facilitate the further adoption and integration of humanoid robots into service roles, we present a real-time framework for NAO robots that synchronizes speech prosody with full-body gestures through three key innovations: (1) A dual-channel emotion engine where large language model (LLM) simultaneously generates context-aware text responses and biomechanically feasible motion descriptors, constrained by a structured joint movement library; (2) Duration-aware dynamic time warping for precise temporal alignment of speech output and kinematic motion keyframes; (3) Closed-loop feasibility verification ensuring gestures adhere to NAO's physical joint limits through real-time adaptation. Evaluations show 21% higher emotional alignment compared to rule-based systems, achieved by coordinating vocal pitch (arousal-driven) with upper-limb kinematics while maintaining lower-body stability. By enabling seamless sensorimotor coordination, this framework advances the deployment of context-aware social robots in dynamic applications such as personalized healthcare, interactive education, and responsive customer service platforms. |
| title | Real-Time Synchronized Interaction Framework for Emotion-Aware Humanoid Robots |
| topic | Robotics I.2.9 |
| url | https://arxiv.org/abs/2601.17287 |