Home service by a mobile manipulator system -System configuration and basic experiments-

This paper describes a mobile manipulator system as a versatile platform for home service. Two key technologies are addressed in the paper. One is the efficient and easy recognition of environment about geometrical, physical and additional information by a sensor fusion system consisting of RFID, stereo camera and laser range sensor. The other is such geometrical, physical and additional information-based manipulation including mobile manipulation for the heavy objects cannot be handled up by the mobile manipulator. The system configuration is described and basic experiments show its effectiveness.