Open Access NAO (OAN): a ROS2-based software framework for HRI applications with the NAO robot
This provides a ready-to-use and expandable framework for researchers using NAO robots in HRI applications, though it is incremental as it builds on existing ROS2 capabilities.
The authors tackled the problem of limited performance and features for NAO robots in human-robot interaction (HRI) research by developing a ROS2-based software framework independent of manufacturer APIs, resulting in a tool that provides basic humanoid skills and advanced HRI features like speech recognition and GPT-based conversation.
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.