Mostrar el registro sencillo del ítem

dc.contributor.authorPrats Sánchez, Mario
dc.contributor.authorMartínez Martín, Ester
dc.contributor.authorSanz Valero, Pedro José
dc.contributor.authorPascual del Pobil Ferré, Ángel
dc.date.accessioned2010-09-27T11:51:14Z
dc.date.available2010-09-27T11:51:14Z
dc.date.issued2008
dc.identifier.issn18612776
dc.identifier.urihttp://hdl.handle.net/10234/19055
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.language.isospa
dc.publisherSpringer Verlag
dc.relation.isPartOfSeriesIntelligent services robotics; 1
dc.subjectMobile manipulator
dc.subjectMultisensor-based manipulator and grasping
dc.subjectHybrid control
dc.subject.otherRobòtica
dc.titleThe UJI librarian robot
dc.typeinfo:eu-repo/semantics/article
dc.rights.accessRightsinfo:eu-repo/semantics/openAccess


Ficheros en el ítem

Thumbnail

Este ítem aparece en la(s) siguiente(s) colección(ones)

Mostrar el registro sencillo del ítem


Ministerio Este proyecto ha recibido una ayuda de la Dirección General del Libro, Archivos y Bibliotecas del Ministerio de Cultura.
DSpace
Metadatos sujetos a :Public Domain | Información y consultas:biblioteca@uji.es | Centro de seguridad y privacidad | Nota legal
Universitat Jaume I - Av. de Vicent Sos Baynat, s/n 12071 Castelló de la Plana, España - Tel.: +34 964 72 87 61 Fax: +34 964 72 87 78