Development of a Movable Service Robot with Double Working Arms for the Elderly and the Disabled

This paper firstly introduces the main design concept of a novel movable service robot prototype for the elderly and the disabled. The robot has the characteristics of simple structure, low cost, double working arms, the vision-based guidance and the wheel motion method. Secondly, the key technology points of the robot are presented and analyzed. Such as double working arms, visual positioning equipment, movable platform, control system and path planning etc. Among them, the double working arms have different configuration structures, and with the double working arm´s coordinated control, the robot can realize the special objectpsilas tracking, fetching, stable transferring etc. In addition, the other key technologies of the robot are also presented. Furthermore, all above these studies provided the significant theoretical and experimental foundation for the further study of the concept-accompany robot, which has the humanlike characteristic and the ability to do daily simple housework.