面對忙碌的社會，人們總希望有個在旁服務的小幫手，而此時機器人便可以突顯它的實用價值，幫忙做一些簡單的服務及幫助，像是跑腿送文件，幫忙運送飲料或餐點，倒垃圾，亦或者幫助行動不便的人按電梯，甚至危險或反覆性的工作等，這些在每天忙碌的生活中上演，而為了達到更多的服務項目，機器人需要一隻強健的手臂，以及即時的影像辨識演算法來輔助完成各式各樣的任務。而現今機器人的工作環境大多侷限在同一平面或同一樓層，且現在的建築大多採用高樓層方式建築，並裝置有電梯，因此本研究最後目的是研製一台可跨樓層運送物件的服務機器人。
在控制上，首先使用者透過人機介面告知機器人任務及目標，載入環境地圖和目標物的圖樣資料庫，利用路徑規劃使機器人移動到目的地，影像辨識運用SIFT演算法提取輸入影像的特徵點，再與載入的圖樣資料做匹配，攝影機隨著機器手臂的機構旋轉，就可達到自動搜尋環境的功能，當計算出目標物的相對位置後，啟動機器手臂執行按電梯或抓取物品的動作，最後透過實驗來驗證本論文機器人的功能。

Nowadays, living in a busy society, people always hope there are assistants around to help them with tedious works. That highlights the necessity and importance of service robots. They not only can provide simple service and assistance, such as sending files, disposing garbage, serving drinks, and etc., but also can help disabled people with daily life needs. Moreover, they can even serve in repetitive situations or dangerous environments. In order to achieve such various functions, a robot needs a robust manipulator, as well as real-time image recognition algorithms. To enable a service robot to work in a high building, which is norm these days, it is important also to make the robot able to roam between different floors.
The aim of this study is to develop a service robot that can roam across floors by autonomously taking lifts for delivering various objects. Maps of environments and feature points of objects of images from different perspectives extracted by using SIFT algorithm are established beforehand. The robot is controlled by a human-computer interface (HCI) to inform the robot its missions and goals. After given a task, the robot load the map of the environment and the patterns of the target images first. Next, a planned path guides the robot to the destination. A camera mounted on the manipulator keeps searching the targeted object in the environment and extracting feature points of objects found in the input images to match with the feature points of the loaded patterns of the targeted object. Once found, the object can be grabbed for delivering.

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