Abstract
We aim to develop a home service robot which can take foods or drinks to users. The robot should be able to move to a refrigerator and open the door even if the actual refrigerator's pose is slightly different from the environmental map which has been created beforehand. In this paper, we focus on two functions of the robot: approaching the front of the refrigerator correctly and opening the door by pulling the door ' s handle. We propose a method of determining a goal pose of the robot according to an actual environment by recognition of a refrigerator ' s pose. This paper shows an implementation of these functions by cooperation of vehicle motion and hand-arm operation using ROS.
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