Generating scenarios for a mobile robot with an arm: Case study: Assistance for handicapped persons

In this paper, we present a mobile robot with an arm and a gripper, which can generate its own scenarios before executing them. Hand-written scenarios, as we previously did, are not applicable any longer, since a wider range of scenarios is aimed at, which cannot be predicted in advance. Our approach involves task planning, for scenario generation, and finite state automation, for scenario execution. Our robot is used for servicing handicapped or ageing persons in their apartment.