We introduce daily life-support robot ASAHI. This describes development of the 2013-version of ASAHI, which is easily operated by the user mainly using verbal communications and gesture. ASAHI2013 is composed of a mobile base sub-system, a manipulator sub-system, a robot avatar sub-system, dialog sub-system and vision sub-system. ASAHI2013 is able to execute human-following using a laser range finder, recognize pointing gesture using an RGB-D sensor and fetch and carry the object to the user using a 6-DOF manipulator.
