The field of service robotics holds the potential to increase the quality of life of millions by removing people from situations that are dirty, dull, and dangerous. However, current robots are far too expensive, have limited task flexibility, and lack the robustness required for use in service applications. A paradigm shift is required if service robots are to ever be as ubiquitous as personal computers. The goal of this research is to develop a "toolbox" containing simple actuators and structural elements together with a design methodology which governs how the components should be assembled for specified service tasks. The cornerstone of this approach is the use of binary (two-state) actuators such as pneumatic cylinders because of their high payload to weight ratio and very low cost. When used in combination with passive damping elements (dashpots) such actuators provide smooth and well-behaved motion between binary states with very little backlash. Within a specified set of tasks the robot constructed from this toolbox is essentially a dedicated machine. The dedicated nature of the resulting machine reduces the cost requirements and increases the reliability of the robot as compared to general purpose robots.
