This article discusses dependable navigation as a basic feature for operating mobile robots among humans. The importance of each navigation module according to the previously mentioned dependability components and resulting specifications for the development of such modules is analyzed. The technical implementations of dependable localization, path planning, and obstacle avoidance systems are also presented. A discussion on the dependable execution of fetch-and-carry tasks among humans is also provided. The crucial components for accomplishing this task are specified and the requirements for the implementation are developed. A modular control architecture for task planning and execution is described, and a new method for sensor-based object manipulation is introduced. Experimental results including the long-term installation of three entertainment robots in a museum in Berlin and several short-term installations of Fraunhofer IPA's robots, Care-O-bot I and II, are also presented and evaluated.

Technical aids allow elderly and handicapped people to live independently in their private homes as long as they wish. As a contribution to these required technological solutions, a demonstrator platform for a mobile home care system - called Care-O-bot - was designed and implemented by Fraunhofer IPA, Stuttgart. Care-O-bot is a mobile service robot, which has the capability to perform fetch and carry and various other supporting tasks in home environments. This paper gives an overview about Care-O-bots functionalities and first practical tests. Keywords: Robotic Home Assistant, Service Robot, Care-O-bot, Household Tasks, Intelligent Mobility Aid

This work presents the intelligent walking aid system Care-O-bot. Care-O-bot is the prototype of a multifunctional home care system, to be used by elderly people in order to live independently in their homes. In order to enable easy manipulation of the robot platform, the way to use it as a walking aid has been adapted to conventional walking aid systems. The robot drives in reaction to input forces given by the user, for example if the user "pushes" the robot forward, it will start moving in the required direction. As an improvement to conventional walking aid systems, intelligent behaviours, as for example autonomous obstacle avoidance and path planning are included.