  As the aging population grows at a rapid rate, there is an ever growing need
for service robot platforms that can provide daily assistance at practical
speed with reliable performance. In order to assist with daily tasks such as
fetching a beverage, a service robot must be able to perceive its environment
and generate corresponding motion trajectories. This becomes a challenging and
computationally complex problem when the environment is unknown and thus the
path planner must sample numerous trajectories that often are sub-optimal,
extending the execution time. To address this issue, we propose a unique
strategy of integrating a 3D object detection pipeline with a kinematically
optimal manipulation planner to significantly increase speed performance at
runtime. In addition, we develop a new robotic butler system for a wheeled
humanoid that is capable of fetching requested objects at 24% of the speed a
human needs to fulfill the same task. The proposed system was evaluated and
demonstrated in a real-world environment setup as well as in public exhibition.
