VI. CONCLUSION
A closing and buckle mechanism is designed and
implemented on the dual-arm robot, which makes it possible
to configure the mobile manipulator to be able to work in two
modes. The robot can grasp and deliver object in the grasping
mode and, with the same robot, it can provide a handrail byconfiguring dual-arm for walking assist in the supporting mode. In the support mode, a walking aid system consists of compliance motion and obstacle avoidance has been suggested for the dual-arm robot. The feasibility of proposed design has been verified by several experiments on the self-constructed dual-arm robot. In the future, we will add more sensors to improve the motion intension judgment to enhance the walking support function to the elderly.