Development of a personal service robot with user-friendly interfaces

Abstract

This paper describes a personal service robot developed for assisting a user in his/her daily life. One of the important aspects of such robots is the user-friendliness in communication; especially, the easiness of user's assistance to a robot is important in making the robot perform various kinds of tasks. Our robot has the following three features: (1) interactive object recognition, (2) robust speech recognition, and (3) easy teaching of mobile manipulation. The robot is applied to the task of fetching a can from a distant refrigerator. © Springer-Verlag Berlin Heidelberg 2006.