Abstract：The behaviours of service robots shall switch answering the demands of different service situations. In order to provide a common research method that can systematically cover all the service situations of service robots, the concept of multi-dimensional service situations is proposed. All of the service situations of service robots are quantified and perceived based on the multi-dimensional factors, such as the size of the work environment of the robot, the number of participants in the environment and the dynamic states of the participants. Based on the quantification and perception of multi-dimensional service situations, a tension space based modeling method of human's comfort needs is designed. With this model, the irregular deformation of human's tension space of each service situation under influences of the different factors can be described, such as the size of the work environment, the number of participants in the environment, and the dynamic states of the participants. Finally, the human's tension space corresponding to multi-dimensional service situations is studied with the self-designed simulation system. Not only all the service situations can be covered by the multi-dimensional service situations, but also the chosen factors can be adjusted according to the research needs. The concept of multi-dimensional service situations is more applicable than the enumerative research methods to the study of service robots.
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