Intel Research's Personal Robotics project aims to develop useful robotic assistants for indoor, populated environments. The project is spread across the Pittsburgh and Seattle labs. Currently, Pittsburgh focuses on mid-range perception, motion planning, and manipulation research, while Seattle focuses on short-range sensing and perception, and human-robot interaction.
Reference: http://personalrobotics.intel-research.net/
Herb: A Home Exploring Robotic Butler
An autonomous mobile manipulator that performs useful manipulation tasks in the home
Manipulation Planning with Caging Grasps
Algorithm for performing constrained tasks such as opening doors and drawers by robots such as humanoid robots or mobile manipulators
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