In this study, we developed a socially interactive service robot with an innovative autonomous flyer distribution function. This robot is equipped with innovative flyer storage and delivery system and could store numerous A5 to A7 flyers sizes and tissue packs at a time. Each flyer passes through an internal channel to reach the palm of the robot, which is configured at a commonly reachable height for the majority of people. Every time a flyer or tissue pack is taken from the palm of the robot, the next flyer autonomously arrives at the robot’s palm every 8 s. The developed robot was designed to have autonomous cassette and battery swapping mechanisms and could work exclusively within a localized working zone. Furthermore, it is equipped with strategies for localizing and avoiding obstacles. Thus, the robot was observed to perform flyer delivery without human intervention. The developed robot was displayed in various exhibitions held in Taiwan. The robot was seen to perform the expected task of flyer delivery which proves the robots full commercial value and a huge potential of becoming a product in the intelligent service robot market.


Social robot Autonomous robot Flyer delivery Swappable battery and cassette Localized environment 



This work was financially supported by the Ministry of Science and Technology of Taiwan (R.O.C) under grant number 103-2221-E-011-104-MY2 at National Taiwan University of Science and Technology, Mechanical Engineering Department.


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Copyright information

© ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering 2018

Authors and Affiliations

  1. 1.Department of Mechanical EngineeringNational Taiwan University of Science and TechnologyTaipei CityTaiwan (R.O.C.)

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