Design And Implementation Of Intelligent Service Robot Design

Intelligent service robots has been studied and developed for decades, particularly in developed countries, such as Japan, American, and European countries. In recent years, with a high potential for supporting growth, creating jobs and solving social challenges, the development of service robots is speed up by many big projects under huge amount of investment of governments and organizations.The thesis carried out the design, solving of kinematics problems, design kinematic controllers, motion planning, and implementation of a novel and commercial intelligent service robot. The robot has a graceful and girl-like appearance, with 160cm of height,45kg of weight and includes an upper body and a mobile platform. The upper body has 20 degrees of freedom and consists of a head, two arms, two hands, and a trunk. By using four omnidirectional wheels and a large number of sensors, the mobile platform is able to move flexibly and autonomously, combined with avoiding obstacles. The robot is able to communicate with human by speech and perform operations such as raise its hands or shake hands to greeting, express emotion, and move and place objects. This intelligent service robot is capable of accomplishing multiple tasks such as providing guidance, introduction, using for entertainment or education, transporting objects, security patrolling or surveillance.