Autonomous Robots

, Volume 22, Issue 1, pp 1–17

Development of the multi-functional indoor service robot PSR systems


DOI: 10.1007/s10514-006-9001-z

Cite this article as:
Chung, W., Kim, G. & Kim, M. Auton Robot (2007) 22: 1. doi:10.1007/s10514-006-9001-z


This paper discusses the development of the multi-functional indoor service robot PSR (Public Service Robots) systems. We have built three versions of PSR systems, which are the mobile manipulator PSR-1 and PSR-2, and the guide robot Jinny. The PSR robots successfully accomplished four target service tasks including a delivery, a patrol, a guide, and a floor cleaning task. These applications were defined from our investigation on service requirements of various indoor public environments. This paper shows how mobile-manipulator typed service robots were developed towards intelligent agents in a real environment. We identified system integration, multi-functionality, and autonomy considering environmental uncertainties as key research issues. Our research focused on solving these issues, and the solutions can be considered as the distinct features of our systems. Several key technologies were developed to satisfy technological consistency through the proposed integration scheme.


Service robotsMobile manipulatorsControl architectureSystem integrationPetri netsMobile robot navigationLocalizationDoor opening controlPassive trailers

Copyright information

© Springer Science + Business Media, LLC 2006

Authors and Affiliations

  1. 1.Department of Mechanical EngineeringKorea UniversitySeoulKorea
  2. 2.Intelligent Robotics Research CenterKorea Institute of Science and Technology, 39-1 Hawolgok-dongSeoulKorea