As robots become more prevalent in homes and public spaces, there is a growing need for their development in industry and inclusion in industrial design curricula. However, teaching robot design poses challenges due to their unique nature of autonomous and dynamic behavior, service aspects, and connectivity to a larger system. Such complex nature of robots asks for new design approaches and methods by expanding the focus of users to include non-human agents like robots in the design process. This paper proposes to design mobile robots from a product-service system approach and examines the design process and methods for mobile robots. Visual mapping tools are introduced for the initial system analysis and design. Concurrent design of product and interface, integration of the two, and visual storytelling are shown as methods for designing a product-service system holistically. Using three years of studio projects in a university’s industrial design program as case studies, the proposed approach, process, methods, and outcomes are examined with reflections on their effectiveness and limitations.