The assistance-robot Sasha, made by Toyota, has the typename HSR, standing for „Human Support Robot“. He is used both in private and industrial surroundings. His purpose is to keep order. Therefore he has to detect and assign objects. This is possible through the wide-angle and stereo cameras. His Laser Range Sensor helps with his orientation. The V4R-Team works on improving the image processing, the object recognition and the grasping for objects. A Robot able to manage similar tasks is called Kenny, developed by the V4R-Team within the SQUIRREL Project.