Development of an office delivery robot with multimodal human-robot interactions

In this paper we present some preliminary results of our project for developing an office delivery robot with the functions of multimodal human-robot interactions. For the multimodal human-robot interactions, we utilize the embedded MCU, SPCE061A, to realize the speech recognition, and interactive dialogue capabilities, and use the single chip, AT-mega168, to implement the detection of sound sources, touch sensing, and the remote control function with Wii Nunchuk interface. For the delivery services, we mount two seven-degree-of-freedom manipulators on the robot's shoulder, to facilitate not only the delivery tasks but also human-robot interactions.