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This paper introduces Care-O-bot ® 3, a highly integrated and compact service robot with manipulation, navigation and vision capabilities. In particular, Care-O-bot ® 3 combines the best of available technology including a 7 DOF light-weight arm, an omnidirectional platform and many high-end sensors along with a sustainable, end user oriented design concept enabling many interaction possibilities.
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Reiser et al. (2009) studied this question.