Current humanoid robots are mostly deployed in laboratory environments. However they are envisioned as helpful assistants in future households that e.g. enable elderly citizens to live independently in their homes by supporting them in their daily life. Possible service tasks are clearing the dish washer or setting the table. In this book a model of a robot arm’s workspace is developed. It is used to analyze the scene and a robot’s capabilities. In planning processes it serves as a source of information that supports the decision process.
KeywordsHumanoid Robot Service Task Logical Planner Path Planner Robot Operating System
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