WaveSync: Constrained Wavefront Optimization for Synchronized Co-Speech Gestures in Humanoid Robots (opens in new tab)

Expressive co-speech gestures are crucial for natural human-robot interaction, but generating them on physical humanoid robots is difficult because gesture strokes must align with speech emphasis while satisfying strict kinematic and dynamic constraints. Unlike virtual avatars, humanoid robots cannot freely execute rapid or overlapping motions, making word-level synchronization and hardware-safe motion planning a coupled problem. We present \tex...