This paper presents the concepts and methodology of knowledge-based information modeling based on Cognitive Science for realizing the autonomous humanoid service robotic arm and hand system HARIS. The HARIS robotic system consists of model-based 3D vision, intelligent scheduler, computerized arm/hand controller, humanoid HARIS arm/hand unit and human interface, and aims to serve the aged and disabled on desk-top object manipulations. The world model, i.e., a shared knowledge base, is introduced to work as a communication channel among the software modules. The task scheduling as well as the 3D-vision is based on Cognitive Science, i.e., a human's way of vision and scheduling is considered in designing the knowledge-based software system. The key idea is to use "words" in describing a scene, scheduling tasks, controlling an arm and hand, and interacting with a human. The world model plays a key role in fusing a variety of distributed functions. The generalized frame-based knowledge engineering environment ZERO++ has been effectively used as a software platform in implementing the system. The experimental system is working within a limited situation successfully. Through the introduction of Cognitive Science-based information modeling we have learned useful hints for realizing human-robot symbiosis, that is our long term goal of the project.