Development of a Mobile Assistive Robot for Daily Living Support*

This paper develops a Mobile Assistive Robotic System (MARS) designed to assist people with disabilities by performing daily tasks such as retrieving objects and helping meal. MARS uses ROS2 framework to connect a 7-DOF robotic arm, hybrid gripper, RGB-depth cameras, and a large language model-based planner, enabling intergration of visionbased recognition, skill affordance, and natural language task planning. Through real-world experiments in cluttered environments, MARS provides a promising solution for autonomous assistive robots in dynamic home settings.