In this chapter, a hand-eye service robot capable of performing interactive tasks in a domestic environment is finally realized. The shape recovery, object modelling and classification, tracking and visual servoing components developed in earlier chapters are integrated into a framework illustrated by the block diagram in Figure 1.2 (page 7). For the experiments in this book, the system is implemented on an upper-torso humanoid robot. Humanoid robots are an appropriate test-bed since hand-eye coordination will be the next vital skill once humanoid robot research moves beyond bipedal motion. But just as importantly, a humanoid robot engenders a much greater sense of personality than other configurations! It is important to note that the methods in this book also apply to a range of camera and manipulator configurations, anthropomorphic or otherwise. The experimental platform, known as Metalman, is detailed in Section 7.1.