Abstract
Service robotics in an office environment has been an active research topic in recent years. This is driven by the need to increase productivity and improve worker safety. In this paper, a Baxter robot on an omnidirectional mobility base is used as a service robot to navigate in an office environment. In particular, the robot is able to plan its path according to a pre-existing map and avoid obstacles during operation. This robotic system is also able to access the elevator system by using the manipulator on Baxter to press elevator buttons just as a human user will do. Experimental results show that the developed system is able to navigate in office corridors and call and enter an elevator without modification to the existing office environment.
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