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This paper introduces Care-O-bot<sup>®</sup> 3, a highly integrated and compact service robot with manipulation, navigation and vision capabilities. In particular, Care-O-bot<sup>®</sup> 3 combines the best of available technology including a 7 DOF light-weight arm, an omnidirectional platform and many high-end sensors along with a sustainable, end user(More)
For mobile platforms with steerable standard wheels it is necessary to precisely coordinate rotation and steering angle of their wheels. An established approach to ensure this is to represent the current state of motion in form of the Instantaneous Centre of Motion (ICM) and to derive a trajectory within this space. However, while control in the ICM space(More)
— In order to infer intent from gesture, a broad classification of types of gestures into five main classes is introduced. The classification is intended as a generally applicable basis for incorporating the understanding of gesture into human-robot interaction (HRI). Examples from human-robot interaction show the need to take into account not only the(More)
— This paper presents the design rationale for a new service robot, Care-O-bot 3 that is meant to operate as a companion robot in people's homes. Note, the emphasis in the paper is on the design of a companion robot as a product, not as a research prototype. The design is motivated from a multidisciplinary viewpoint and compared to other approaches in the(More)
The development of reliable, robust and capable service robot platforms is expensive and time consuming. On the other hand, stable hardware is a prerequisite to be able to concentrate on the targeted research area. This paper proposes a strategy to make such high-end service robot platforms available as research platform, by means of the example of(More)
In this paper Care-O-bot ® 3 is introduced, which is designed as a prototype for a household robot. In contrast to merely technology driven service robot developments, many considerations on embodiment were conducted. In particular, Care-O-bot ® 3 excels in its user-interaction oriented design. Nevertheless, it is equipped with leading edge technology,(More)
The increasing capabilities of experimental household robot platforms require more and more sophisticated methods of interaction. While there are many developments in all directions of Human-Machine-Interaction, the integration and combination of several modalities into one robot system require some effort. To ease the development of applications supporting(More)
In the last decades many robotic demonstrators were built, the vast majority of which are constrained to a limited set of operations, often focusing on the development of single robotic components like navigation, manipulation, human-machine interaction, etc.