Towards Service Robots for Everyday Environments

Recent Advances in Designing Service Robots for Complex Tasks in Everyday Environments

  • Erwin Prassler
  • Marius Zöllner
  • Rainer Bischoff
  • Wolfram Burgard
  • Robert Haschke
  • Martin Hägele
  • Gisbert Lawitzky
  • Bernhard Nebel
  • Paul Plöger
  • Ulrich Reiser

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 76)

Table of contents

  1. Front Matter
    Pages 1-10
  2. Service Robots in Everyday Environments: Where Are We? Where Are They?

    1. Front Matter
      Pages 1-1
    2. Erwin Prassler
      Pages 3-6
  3. System Architecture

    1. Front Matter
      Pages 7-7
    2. Martin Hägele, Paul G. Plöger
      Pages 9-10
    3. Florian Vohr, Till May
      Pages 11-18
    4. Paul G. Plöger, Kai Pervölz, Christoph Mies, Patrick Eyerich, Michael Brenner, Bernhard Nebel
      Pages 19-42
  4. Task Planning and Execution Control

    1. Front Matter
      Pages 43-43
    2. Bernhard Nebel
      Pages 45-47
    3. Patrick Eyerich, Robert Mattmüller, Gabriele Röger
      Pages 49-64
    4. Michael Brenner, Bernhard Nebel
      Pages 65-75
    5. Michael Brenner, Bernhard Nebel
      Pages 77-97
    6. Christian Dornhege, Patrick Eyerich, Thomas Keller, Sebastian Trüg, Michael Brenner, Bernhard Nebel
      Pages 99-115
    7. Thomas Keller, Patrick Eyerich, Bernhard Nebel
      Pages 117-124
  5. Self-modeling, Monitoring and Adaptation for Manipulation Robots

    1. Front Matter
      Pages 125-125
    2. Wolfram Burgard
      Pages 127-129
    3. Jürgen Sturm, Christian Plagemann, Wolfram Burgard
      Pages 131-161
  6. Perception

    1. Front Matter
      Pages 163-163
    2. Gisbert Lawitzky
      Pages 165-166
    3. Alexander Kasper, Zhixing Xue, Rüdiger Dillmann
      Pages 167-179
    4. Robert Eidenberger, Thilo Grundmann, Martin Schneider, Wendelin Feiten, Michael Fiegert, Georg v. Wichert et al.
      Pages 181-213
    5. Thomas Kämpke, Boris Kluge, Matthias Strobel
      Pages 215-225
    6. Uwe Handmann, Sebastian Hommel, Michael Brauckmann, Michael Dose
      Pages 227-234
    7. Kai O. Arras, Boris Lau, Slawomir Grzonka, Matthias Luber, Oscar Martinez Mozos, Daniel Meyer-Delius et al.
      Pages 235-280
    8. Michael Ruhnke, Bastian Steder, Giorgio Grisetti, Wolfram Burgard
      Pages 281-300
    9. Thilo Grundmann, Michael Fiegert, Wolfram Burgard
      Pages 301-326
  7. Mobility, Manipulation and Grasping in Everyday Environments

    1. Front Matter
      Pages 327-327
    2. Rainer Bischoff, J. Marius Zöellner
      Pages 329-330
    3. Rainer Bischoff, Günter Schreiber, Bernd Finkemeyer, Yevgen Kogan, Marinus Danzer, Johannes Kurth
      Pages 331-352
    4. Thomas Wimböck, Christian Ott
      Pages 353-366
    5. Zhixing Xue, Jens Küehnle, Steffen W. Rüehl, Rüediger Dillmann
      Pages 367-377
    6. Thomas Kämpke, Boris Kluge, Matthias Strobel
      Pages 379-390
    7. Zhixing Xue, Steffen W. Rühl, J. Marius Zöllner, Rüdiger Dillmann
      Pages 391-402
    8. Carsten Schürmann, Matthias Schöpfer, Robert Haschke, Helge Ritter
      Pages 403-415
    9. Matthias Schöpfer, Michael Pardowitz, Robert Haschke, Helge Ritter
      Pages 417-430
    10. Robert Haschke, Matthias Schöpfer, Helge Ritter
      Pages 431-440
  8. Interactive Robot Teaching

    1. Front Matter
      Pages 441-441
    2. Robert Haschke, Helge Ritter
      Pages 443-444
    3. Ingo Lütkebohle, Sven Wachsmuth
      Pages 445-456
    4. Ingo Lütkebohle, Sven Wachsmuth
      Pages 457-470
    5. Julia Peltason, Britta Wrede
      Pages 471-482
    6. Ingo Lütkebohle, Julia Peltason, Lars Schillingmann, Christof Elbrechter, Sven Wachsmuth, Britta Wrede et al.
      Pages 483-502
  9. Robot Development Process and Tools

    1. Front Matter
      Pages 503-503
    2. Ulrich Reiser, Walter Nowak
      Pages 505-505
    3. Walter Nowak, Ulrich Reiser, Erwin Prassler
      Pages 507-516
  10. Back Matter
    Pages 0--1

About this book


People have dreamed of machines, which would free them from unpleasant, dull, dirty and dangerous tasks and work for them as servants, for centuries if not millennia. Service robots seem to finally let these dreams come true. But where are all these robots that eventually serve us all day long, day for day? A few service robots have entered the market: domestic and professional cleaning robots, lawnmowers, milking robots, or entertainment robots. Some of these robots look more like toys or gadgets rather than real robots. But where is the rest? This is a question, which is asked not only by customers, but also by service providers, care organizations, politicians, and funding agencies. The answer is not very satisfying. Today’s service robots have their problems operating in everyday environments. This is by far more challenging than operating an industrial robot behind a fence. There is a comprehensive list of technical and scientific problems, which still need to be solved. To advance the state of the art in service robotics towards robots, which are capable of operating in an everyday environment, was the major objective of the DESIRE project (Deutsche Service Robotik Initiative – Germany Service Robotics Initiative) funded by the German Ministry of Education and Research (BMBF) under grant no. 01IME01A. This book offers a sample of the results achieved in DESIRE.


Everyday Environment Robotics Service Robotics

Editors and affiliations

  • Erwin Prassler
    • 1
  • Marius Zöllner
    • 2
  • Rainer Bischoff
    • 3
  • Wolfram Burgard
    • 4
  • Robert Haschke
    • 5
  • Martin Hägele
    • 6
  • Gisbert Lawitzky
    • 7
  • Bernhard Nebel
    • 8
  • Paul Plöger
    • 9
  • Ulrich Reiser
    • 10
  1. 1.GPS Gesellschaft für ProduktionssystemeStuttgartGermany
  2. 2.Forschungszentrum InformatikKarlsruheGermany
  3. 3.KUKA Laboratories GmbHAugsburgGermany
  4. 4., Autonome Intelligente SystemeUniversität FreiburgFreiburgGermany
  5. 5., Technische FakultätUniversität BielefeldBielefeldGermany
  6. 6.und Automatisierung IPAFraunhofer Institut für ProduStuttgartGermany
  7. 7.Siemens AGMünchenGermany
  8. 8., Grundlagen der künstlichen IntelligenzUniversität FreiburgFreiburgGermany
  9. 9., Fachbereich InformatikHochschule Bonn-Rhein-SiegSankt AugustinGermany
  10. 10.und Automatisierung IPAFraunhofer Institut für ProduktionstechnStuttgartGermany

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag Berlin Heidelberg 2012
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-3-642-25115-3
  • Online ISBN 978-3-642-25116-0
  • Series Print ISSN 1610-7438
  • Series Online ISSN 1610-742X
  • Buy this book on publisher's site