SMOOTH Robot: Design for a Novel Modular Welfare Robot. - William Kristian Juel; Frederik Haarslev; Eduardo Ruiz Ramírez; Emanuela Marchetti; Kerstin Fischer; Danish Shaikh; Poramate Manoonpong; Christian Hauch; Leon Bodenhagen; Norbert Krüger (J. Intell. Robotic Syst., 2020)