Service robotics is currently a very active area of research, with significant progress being made in areas such as locomotion, interaction, learning and manipulation. The interest in service robots stems from the pressing needs of an aging society and diminishing workforce in many developed countries. Consequently, this book has focussed on developing manipulation skills that would be useful in applications such as aged care and construction work. Many of the important characteristics of practical service applications are largely neglected in current robotics research, including robust sensing in an unpredictable environment, tolerance to calibration errors, and minimal reliance on prior knowledge for tasks such as object recognition. Solving these problems contributes to the requirements of both high reliability and low cost that will drive the acceptance and success of service robots.