Earlier HERB
Intel has been developing for some time a Home Exploring Robotic Butler (HERB, for the relatives). It features, among other things, two Barrett arms with grippers (since it was upgraded from the previous one-armed version) , a Segway RPM base, and a Hokuyo UTM-30LX Scanning Laser
This is a companion discussion topic for the original entry at https://community.robotshop.com/blog/show/herb-intels-butler-robot