Abstract
This paper describes the integrated design and techniques of the HAIBAO robot, an interactive service robot developed for Shanghai World Expo 2010. Compared with previous exhibition service robots, the HAIBAO robot has improved flexible motion ability, anthropomorphic interaction ability and intelligent cognitive and decision-making ability. In addition to both hardware and software system design, some key techniques including a four-wheeled omnidirectional mechanism and its motion control and compensatory algorithm, and multitask scheduling are introduced. During the Expo, which lasted 184 days, 37 HAIBAO robots successfully served tourists by providing information, photography services, hall guidance, conversation and various entertainment. Their robustness, stability, flexibility and friendliness were greatly commended.
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