In recent years, the robotics field has seen rapid advancements in both software and hardware areas. Good algorithms for perception, learning, planning, navigation and inferencing have been researched and used in autonomous robots. They enable the robot to be more useful in daily life, for example as a courier, or a museum guide, such as
[4,5]. Several new robot platforms have been developed which support major research in robotics, from advanced mobile robots, such as legged robots, to lightweight manipulators.