arXiv:2603.19134 · v2

Introducing M: A Modular, Modifiable Social Robot

首次提交 2026-03-20 00:51

版本更新 2026-10-28 08:03

雷达观测 2026-10-30 10:23

摘要

We present M, an open-source, low-cost tabletop social robot platform aimed at lowering barriers to social robotics research by making robots easier to reproduce, modify, and deploy in real-world settings. M combines a modular mechanical design, multimodal sensing, and expressive yet mechanically simple actuation architecture with a ROS2-native software package that cleanly separates perception, expression control, and data management. The platform includes a simulation environment with interface equivalence to hardware to support easy sim-to-real transfer of interaction behaviors. We demonstrate extensibility through additional sensing/actuation modules and provide example interaction templates for storytelling and two-way conversational coaching. Lastly, we report real-world use of M in interaction design and week-long in-home deployments, showing how M can serve as a practical platform for longitudinal, reproducible social robotics research.