Humanoid Home Service Robot for Object Retrieval in Unstructured Environments (Based on Virtual Nao Robot & Webots)

: The development of humanoid robots for home service tasks has gained significant attention due to the potential benefits they offer in terms of enhancing daily living, especially in environments that are dynamic and unstructured. This paper presents a comprehensive approach to designing and simulating a humanoid robot capable of retrieving objects in a home environment using a virtual Nao robot within the Webots simulation platform. The primary objective of this research is to enable a robot to navigate and perform object retrieval tasks within cluttered and unpredictable spaces. The virtual Nao robot is equipped with sensors that enable object detection, environmental mapping, and path planning. The system leverages advanced algorithms for object recognition using computer vision techniques, navigation via motion planning strategies like A*, and object manipulation based on grasping heuristics. We evaluate the robot's ability to successfully locate, navigate to, and retrieve objects in various simulated home environments with different levels of complexity. The results highlight the potential of using humanoid robots for practical applications such as elder care, assisting individuals with mobility challenges, or automating home tasks. This research demonstrates that through effective simulation tools such as Webots, robotic systems can be designed, tested, and refined to address real-world challenges in home automation and assistive robotics.