# Design and Implementation of Adam: A Humanoid Robotic Head with Social Interaction Capabilities
## 2 Related Work  
Humanoid robot designs have previously been proposed with different aims. While some were general-purpose open-source designs made for 3D printing, others were made for specific purposes and their designs were not made publicly available for reproduction. Table 1 shows the characteristics of some of the robots mentioned below.  
Among the open-source designs, \"InMoov\" is a 3D-printed robot that is easily replicable [33]. It is a life-size robot with a humanoid design and a large number of degrees of freedom, allowing it to have human-like motions. It has been used, for example, in research on reception and direction-giving [34], spatial perception and object identification [39], and real-time human motion imitation [40]. Another humanoid robot, \"imNEU\", was based on InMoov and had features like a differential drive mobile platform [41].  
\"Roboquin\" was presented in [36] as a humanoid robot with human-like body proportions and degrees of freedom, allowing it to emulate human movements. This robot was capable of performing nonverbal communication through gestures. It did not have facial components; it expressed states like sadness, anger, and fear by controlling the direction of the head and the posture of the arms and hands. The last aspect was addressed in [37] where the \"Berrick\" robotic head platform was presented. It was made based on the InMoov head and equipped to perform facial detection and gazing tasks.  
Other robotic head platforms worth mentioning include Alan and Alena [38], which are highly customizable and designed to utilize technologies related to sound and image-processing tasks. Another notable platform is Furhat [42; 43], equipped with a 3D display that allows it to show facial movements and expressions. It can both receive and emit sound, enabling it to engage in conversations. Kismet is a robot head with a cartoonish face that can engage in social interactions [44]. Also, Fritz was shown in [45] as a humanoid robot with degrees of freedom in the face and the arms that allowed it to interact with people using modalities like speech, facial expressions, and gestures. Additionally, \"Han\" is a humanoid robot capable of recognizing and interacting with people. It uses cameras and voice recognition technology. It can perform complex facial expressions and has about 40 motors to control its artificial facial muscles. The face is covered in a soft, flesh-like rubber allowing it to move in a human-like way [46; 47; 48].  
\begin{table}
\begin{tabular}{p{56.9 pt} p{56.9 pt} p{56.9 pt} p{56.9 pt} p{56.9 pt}} \hline \hline
**Robot** & **Head DoF** & **Vision** & **Sound Acquisition** & **3D-Printed** & **Open-Source Design** \\ \hline InMoov [33] & 5[34] & Cameras in the eye locations [35] & Customizable, example external microphone [34] & Yes & Yes \\ \hline Roboquin [36] & 3 & Unspecified & Through a PC computer & Unspecified & Unspecified \\ \hline Berrick [37] & 5 & Monocular camera in the left eye & N/A & Yes & Yes \\ \hline Alan and Alena [38] & 6 & 1 camera in the forehead & Yes, unspecified number of microphones & Unspecified & No [37] \\ \hline \hline \end{tabular}
\end{table}
Table 1: Some characteristics of humanoid robots surveyed in Section 2.  
From the above, it can be seen that increasing the number of degrees of freedom, as well as equipping robotic platforms with verbal communication abilities based on strong language models can enhance their interactions with humans and, thus, their acceptability. Adam's design aims to address these considerations in both hardware and software aspects. Manufactured with 3D printing and using commercial control and actuation devices, with software components having ChatGPT at the center, the implementation presented in this paper features human-likeness with a high degree of robustness, flexibility, and user-friendliness.