Space Human–Robot Interaction with Gaze Tracking Based on Attention Mechanism

Gaze is a natural and rapid non-verbal interaction mode, particularly well-suited for human-robot interaction in busy space environments. However, the space human-robot interaction based on gaze is still in its infancy. Therefore, this paper conducts a preliminary exploration in this area. Using the AAR-2, a free-flying astronaut-assistant robot, as the platform, we establish a gaze tracking database, construct a gaze tracking model based on an attention mechanism, and develop a human-robot interface. When the astronaut gazes at a control button on the interface, the corresponding control instruction is transmitted to the STM32 controller within the AAR-2 via radio frequency communication. Subsequently, the AAR-2 is propelled by ducted fans to perform the corresponding action. At the same time, the AAR-2 feeds back its operational state to the astronaut, thereby enabling space human-robot interaction. In the system, we achieve an effective gaze tracking model with high accuracy and implement an efficient image preprocessing method with high real-time performance. The experimental results demonstrate that the system can meet the actual requirements for accuracy and real-time processing.