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dc.contributor.authorPrats Sánchez, Mario
dc.contributor.authorMartínez Martín, Ester
dc.contributor.authorSanz Valero, Pedro José
dc.contributor.authorPascual del Pobil Ferré, Ángel
dc.description.abstractThis 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.
dc.format.extentP. 321-335
dc.publisherSpringer Verlag
dc.relation.isPartOfSeriesIntelligent services robotics; 1
dc.subjectMobile manipulator
dc.subjectMultisensor-based manipulator and grasping
dc.subjectHybrid control
dc.titleThe UJI librarian robot

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