将智能人居辅助环境系统与服务机器人技术相结合，可以有效帮助老年人进行很多日常活动，有利于老年人获得更加良好的生活状态。本文概述了欧盟项目Robot-Era开发的智能人居辅助环境（AAL）系统，并重点阐述了系统中具有室内移动及物品操作能力的机器人的工程实现方法以及软件架构。该系统基于机器人操作系统（ROS）对大量先进的导航定位、环境感知以及操作控制算法进行集成，并通过实验对机器人的性能和实际应用效果进行验证。

Systems for ambient assisted living (AAL) that integrate service robots with sensor networks and user monitoring can help elderly people with their daily activities, allowing them to stay in their homes and live active lives for as long as possible. In this paper, we outline the AAL system currently developed in the European project Robot-Era, and describe the engineering aspects and the service-oriented software architecture of the domestic robot, a service robot with advanced manipulation capabilities. Based on the robot operating system (ROS) middleware, our software integrates a large set of advanced algorithms for navigation, perception, and manipulation. In tests with real end users, the performance and acceptability of the platform are evaluated.