Modular home robot system based on the MMM concept-design instance with detachable symmetric arm module

A design concept for domestic robots is presented based on three fundaments: Multitasking, Minimization and Modularization. A prototype design with multitask capability is presented within a minimalistic design framework. This is achieved by focusing on a specific subclass of tasks scenarios executable within specific household environment. While minimalism design addresses cost reduction, it inevitably restricts the multitask capability. Modularization helps achieving a tradeoff. As an example, we introduce a mobile-base domestic robot with fully symmetrical and lightweight modular arm design. The manipulator arm has the capability to reconfigure itself by detaching/attaching one of the end-links from/to different locations. Preliminary experiments are described (see also the attached video clip) and an application scenario for accessing high locations (e.g. on a tall bookshelf) is outlined.