A Study on Designing a Robot with Body Features Tailored for Coexistence with Humans in Daily Life Environments

Abstract

In the pursuit of enhancing the quality of life, research in domestic robotics is rapidly evolving, offering a broad spectrum of services that not only provide practical aid but also contribute to emotional well-being and social interaction. However, existing domestic robots often lack essential features necessary for continuous interaction with humans and their surroundings, such as stability, mobility, safety, size, and physical interaction capabilities. Addressing this need, this paper introduces the development of a prototype robot tailored for harmonious coexistence with humans. This robot utilizes its own heavy equipment, such as batteries and actuators, to achieve an intrinsically balanced structure along with a comprehensive set of features optimized for seamless integration into human-centric environments. Focusing on the mechanical design of the robot, we evaluated its performance through a series of experiments, highlighting its mechanical advantages, addressing its limitations, and proposing solutions to enhance its performance for future applications.