Towards Service Robots for the Human Environment: the Robutler

Abstract

We present an experimental service robot, a mobile hand-arm system with anthropomorphic features as well as some capability for autonomous behavior. The system integrates a mobile platform, an arm optimized for light weight, and an articulated dexterous four-finger hand with basic navigation skills, real-time scene analysis by stereo vision, compliant motion control, and an intuitive man-machine interface. It thus com- prises many of the key features required to realize the vision of a robotic servant that acts and interacts in the human living environment. The task we consider here is manipulation of bottles and glasses for preparing and serving drinks. The purpose of this article is to provide a comprehensive view of the whole system, revealing the synergies between its components that lead to real- world performance within the addressed problem domain.