The UJI librarian robot
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Altres documents de l'autoria: Prats Sánchez, Mario; Martínez Martín, Ester; Sanz, Pedro J; del Pobil, Angel P.
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Mostra el registre complet de l'elementcomunitat-uji-handle:10234/9
comunitat-uji-handle2:10234/7036
comunitat-uji-handle3:10234/8620
comunitat-uji-handle4:
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Títol
The UJI librarian robotData de publicació
2008Editor
Springer VerlagISSN
18612776Tipus de document
info:eu-repo/semantics/articleParaules clau / Matèries
Resum
This paper describes the UJI Librarian Robot, a mobile manipulator that is able to autonomously locate a book in an ordinary library, and grasp it from a bookshelf, by using eye-in-hand stereo vision and force sensing. ... [+]
This paper describes the UJI Librarian Robot, a mobile manipulator that is able to autonomously locate a book in an ordinary library, and grasp it from a bookshelf, by using eye-in-hand stereo vision and force sensing. The robot is only provided with the book code, a library map and some knowledge about its logical structure and takes advantage of the spatio-temporal constraints and regularities of the environment by applying disparate techniques such as stereo vision, visual tracking, probabilistic matching, motion estimation, multisensor-based grasping, visual servoing and hybrid control, in such a way that it exhibits a robust and dependable performance. The system has been tested, and experimental results show how it is able to robustly locate and grasp a book in a reasonable time without human intervention. [-]
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http://rightsstatements.org/vocab/CNE/1.0/
info:eu-repo/semantics/openAccess
info:eu-repo/semantics/openAccess
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