Abstract: A household intelligent service robot was described． The key technologies incluing omnidirectional undercarriage， lightweight arms and the multi- sensor integrating were discussed． The decentralized and hierarchical system control architecture of the robot was introduced． Six days real world experiments carried out with the robot on China International Industry Fair were presented．

家庭生活支援双臂智能服务机器人的研制_李宪华.pdf

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