The Robotic Design of PR-1

Fundamentally, for a robot to be useful in human environments and perform tasks for people, It needs to have capabilities similar to humans. The following is a subset of the applications for which the research and development using PR-1 is being planned:
• Around the house: doing the dishes, tidying up, handling laundry, cleaning.
• Aging populations: carrying heavy things, remembering where things are, retrieving items, preparing food, cleaning.
• Assisting people with disabilities: tele-manipulation, feeding, doing chores, monitoring health and activity.
• Operations: Behind the counter food service, pick and pack tasks, stocking grocery stores, tracking inventory, retrieving items, maintaining a searchable physical file system.

From our analysis of these applications, a set of minimum capabilities was derived that includes the following:
• Support loads of 50N (10Lbf) with one arm.
• Grasp, carry and place a standard brick with one arm.
• Use both arms to move a full pot of water from one counter to another.
• Open doors, cabinets, drawer with one hand.
• Navigate wheelchair-accessible areas and handle common obstacles.

In addition to constraints imposed by individual tasks the goal of performing these types of tasks drives the following characteristics of the entire system: human safety, robustness, and payload.

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