Development of a Humanoid Robot Prototype for Multimodal Human-Robot Interaction

Researchers have assembled a compact humanoid testbed aimed at lowering the entry barrier for multimodal human-robot interaction research. Featuring a 12-DOF dual-arm setup, an expressive 2-DOF head display, and an onboard Jetson compute module, the prototype links MediaPipe gesture tracking, YOLO-based 3D localization, and LLM semantic parsing into a coherent pipeline. In empirical evaluations, the system demonstrated an average manipulation error of 1.83 cm and over 90% overall task accuracy, serving as an accessible reference design for desktop-scale physical AI experimentation.