1 Copyright © 2015, IGI Global. Copying or distributing in print or electronic forms without written permission of IGI Global is prohibited. Chapter 1 DOI: 10.4018/978-1-4666-8693-9.ch001 ABSTRACT The number of robots operating in human environments is increasing every day. In order to operate in such environments, the robot must be able to navigate, interact with human, pick and place diferent ob- jects. This chapter presents a mobile humanoid robot that is able to localize itself, navigate to the target location, and generates the arm motion based on the specifc task. The robot utilizes the Laser Range Finder, camera and compass sensor for localization and navigation. In addition, the robot generates the arm motion satisfying multiple motion criteria, simultaneously. This chapter evolves neural controllers that generate the humanoid robot arm motion in dynamic environment optimizing three diferent objec- tive functions: minimum time, distance and acceleration. In a single ran of Multi-Objective Genetic Algorithm, multiple neural controllers are generate and the same neural controller can be employed to generate the robot motion for a wide range of initial and goal positions. INTRODUCTION The need for assistive robotics is expected to grow due to the large number of elderly people and short- age of qualified staff, especially in developed countries. The assistive robots are divided mainly in two categories: 1) Rehabilitation robots and 2) Assistive social robots. The second one is further divided in 2 subcategories: a) Service robots and b) Companion robots. This chapter focuses on service robots which are mainly used to assist elderly or unable people in ev- eryday life activities. The authors present a humanoid robot mobile platform that is able to self localizes, navigate to the target location, and perform picking and placing tasks using both arms. In performing domestics task such as cleaning, picking and carrying food or household item from one room to another, a mobile humanoid robot are required to have high mobility, and ability to manipulate object in opti- Assistive Intelligent Humanoid Robot in Human Environment Zulkifli Mohamed Universiti Teknologi MARA, Malaysia Genci Capi University of Toyama, Japan