摘要: 阐述了面向家庭生活支援系统的多自由度智能移动服务机器人系统构架方案，对智能服务机器人的全方位移动

平台 轻量化手臂及多传感器信息融合等关键部件进行重点论述，并指明进一步研究的方向 通过在上海中国国际工业博

览会的现场展示，验证了智能服务机器人系统控制方案的有效性和整体架构的完整性-Abstract: A household intelligent service robot was described． The key technologies incluing omnidirectional undercarriage，

lightweight arms and the multi- sensor integrating were discussed． The decentralized and hierarchical system control architecture of the

robot was introduced． Six days real world experiments carried out with the robot on China International Industry Fair were presented．