Here is another versatile platform to study human-robot interactions. Apollo has 7-DoF Kuka LWR IV arms, three fingered Barrett Hands and a RGB-D camera mounted to a humanoid head. Its fingers have touch and stain sensors. The robot comes with stereo vision cameras as its eyes.
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As you can see in the above video, the mouth consists of of an array of LEDs. This robotic platform is compatible with ROS. More info is available here.
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