CleaningAssistant - A Service Robot Designed for Cleaning Tasks

|A new service robot designed for cleaning tasks in home environments is introduced. Robot systems will work directly with people in there areas, thus placing a central importance on making interactions between people and machines as natural as possible. The main focus of this paper is twofold: First, an introduction to the system's design and to an intuitive programming approach which allows the robot to be easily used by non-experts is given. The approach is based on human gesture recognition and context sensitive interpretation. Second, a closed form solution of the robot's inverse kinematics is derived. The reduncancy of the manipulator is therein used to optimize the inverse kinematics solution in terms of manipulability.