Novel design and control of a home service mobile robot for Korean floor-living life style: KOBOKER

This paper presents novel design, development, and control of a mobile robot that is required to perform home service application. The robot is called KOBOKER (Korean Robot Worker) and designed for Korean home environment that requires living life on the floor. KOBOKER has been developed for Korean floor living life style with several design strategies such as balancing capability with two wheels, separable low and upper bodies, adjustable waist, stretchable waist, and lastly up and down arms to reach objects on the floor.