Vizzy: A Humanoid on Wheels for Assistive Robotics.

The development of an assistive robotic platform poses exciting engineering and design challenges due to the diversity of possible applications. This article introduces Vizzy, a wheeled humanoid robot with an anthropomorphic upper torso, that combines easy mobility, grasping ability, human-like visual perception, eye-head movements and arm gestures. The humanoid appearance improves user acceptance and facilitates interaction. The lower body mobile platform is able to navigate both indoors and outdoors. We describe the requirements, design and construction of Vizzy, as well as its current cognitive capabilities and envisaged domains of application.