The ZAFH Servicerobotik (http://www.zafh-servicerobotik.de/) research
project aims at developing a methodology for building service robots.
The major approach is to extend and merge separated techniques under the
objective of suitability for daily use.

http://www.youtube.com/user/roboticsathsulm

Our latest scenario shows the ZAFH service robot "Kate" acting as
butler. Kate takes orders from persons and delivers coffee, coke and
juice. All orders are different and demonstrate mobile manipulation,
learning from demonstration, active object recognition and robust
coordination of the tasks.