A multipurpose robot conducting domestic tasks should be indispensable for social needs, and this type of robot requires sophisticated technologies. A humanoid robot is not really practical at present for actual home or hospital use, considering its reliability and cost. To develop a practical multipurpose robot, we previously proposed the robot-environment compromise system (RECS) concept, which involves technology to modify a robot’s environment to increase robot performance. This concept aims to share the technical difficulties between the robot and the environment so that robot tasks are possible and facilitated. The present paper reports the development of an indoor mobile robot system based on the RECS concept that has a wheel mechanism to traverse steps. We propose a navigation system based on image recognition of landmarks on the ceiling and evaluated its effectiveness in experiments. We also propose a positioning system using a docking mechanism. We demonstrate our proposal’s feasibility using domestic tasks of setting a meal on a table and clearing away the dishes. We also developed a human interface system based on speech synthesis and recognition.

1. [1] H. Funakubo, “Aged society and robots,” J. Robotic Society of Japan, Vol.8, No.5, p. 121, 1990 (in Japanese).
2. [2] “Special issue on robotics in health and human services,” Rob. Aut. Sys., 5, 1989.
3. [3] “Special issue on robotics in health care,” Robotica, Vol.11, Issue 6, 1993.
4. [4] N. Tejima, “Rehabilitation Robots for the Elderly –Trend and Future–,” J. Japan Soc. for Precision Eng., Vol.65, No.4, pp. 507-511, 1999 (in Japanese).
5. [5] http://world.honda.com/ASIMO/
6. [6] M. Takano, T. Yoshimi, K. Sasaki, and H. Seki, “Development of Indoor Mobile Robot Based on RECS concept,” J. Japan Society for Precision Engineering, Vol.62, No.6, pp. 1334-1338, 1996 (in Japanese).
7. [7] S. Aoyagi, H. Kinomoto, S. Ieuji, and M. Takano, “Recognition and Handling of Tableware by Using a Robot Based on RECS concept,” Trans. The Institute of Electrical Engineers of Japan, 120-C, 5, pp. 615-624, 2000 (in Japanese).
8. [8] K. Yamato, T. Hara, K. Bando, T. Yamaguchi, Y. Murakami, K. Makihira, M. Takano, and S. Aoyagi, “Study on Robot Task of Folding Clothes based on RECS Concept,” Proc. Int. Conf. on Machine Automation (ICMA2004), pp. 57-62, 2004
9. [9] T. Yamaguchi, S. Ohashi, K. Kotani, T. Yamaguchi, Y. Murakami, K. Makihira, M. Takano, and S. Aoyagi, “Development of a Welfare Robot based on RECS Concept –Task of Setting a Meal on the Table–,” Proc. Int. Conf. on Machine Automation (ICMA2004), pp. 81-84, 2004.
10. [10] T. Sato, “Networked Intelligent Machine to Support Daily Life – Trials of Robotic Room,” Toshiba Review, Vol.56, No.9, pp. 28-32, 2001.
11. [11] M. Topping, “Handy1, a robotic aid to independence for severely disabled people,” Technology and Disability, Vol.5, No.2, pp. 233-235, 1996.
12. [12] http://www.irobot.com/consumer/
13. [13] Y. Shirai and H. Inoue, “Research on Intelligent Robots –Towards Model Based Robotics–,” J. Robotic Soc. of Japan, Vol.5, No.6, pp. 462-469, 1987.
14. [14] T. Morita, K. Inoue, M. Takano, and K. Sasaki, “Development of a Mobile Robot with New Wheel Mechanisms Capable of Stepping over Obstacles,” Proc, IFToMM Int. Symp. on TMM, pp. 719-724, 1992.
15. [15] S. Ito, T. Fukuda, F. Arai, Y. Abe, and Y. Tanaka, “Vision Based Navigation System of Autonomous Mobile Robot (Planning Landmark Sensing Considering Environmental Conditions),” J. the Japan Society ofMechanical Engineers Series C, Vol.64, No.618, pp. 256-264, 1998 (in Japanese).
16. [16] J. Ota, “Environmental Support for Intelligent Robots,” J. Japan Society for Precision Engineering, Vol.65, No.10, pp. 1407-1410, 1999 (in Japanese).
17. [17] Y. Hada, K. Takase, and T. Ayusawa, “Development of a Markbased 3D Vision System,” Trans. The Institute of Electrical Engineers of Japan, 120-C, 5, pp. 625-633, 2000 (in Japanese).
18. [18] S. Aoyagi, Y. Kiguchi, K. Tsunemine, and M. Takano, “Position and Orientation Measurement of a Mobile Robot by Image Recognition of Simple Barcode Landmarks and Compensation of Inclinations,” Trans. The Institute of Electrical Engineers of Japan, 121-C, 2, pp. 375-384, 2001 (in Japanese).