Construction of task instruction system for object retrieval service based on user satisfaction

This paper addresses the use of a service robot system working for humans in a daily life environment. The robot system described here always interacts with humans, and is therefore required to consider the satisfaction of users to provide suitable services. Our goal is to develop a robot system offering a hand-over service according to the preference of users. Here, we construct a task instruction system for the hand-over task utilizing the idea of Service Engineering as the first step in our research. The system can be used to instruct a robot to bring the indicated objects only by selecting task information, such as grasping position and posture, which can be utilized to estimate the user´s preference.