Recently, the introduction of service robots is being applied in many areas of society such as industry, hospitals, and domestic environments. These robots are expected to perform tasks that contribute to the well-being of humans. A domestic service robot is a robot that autonomously assist users in performing both indoor and outdoor household tasks. The main intention of this type of robots is to provide comfort, convenience, entertainment, safety and security for the house and its residents. A study made by IFR (International Federation of Robotics) [1] forecasts that approximately 42 million domestic robots will be sold between the years of 2016 and 2019. 

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This project consists of an anthropomorphic domestic service robot capable of doing different tasks thanks to its body shape (two arms, 1.65 m of height and a body tray for multiple object transportation). Also, its communication interfaces such as talking, earing and touch feeling resembles a human being. The system that will be developed during this dissertation consists of a high-level decision-making algorithm. It will be possible for the robot to learn by experience and to be taught by its user. Hard-coded rules or a machine learning engineer will not be necessary. Figure 1 shows a draft of the robot to be developed.