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The UJI librarian robot
dc.contributor.author | Prats Sánchez, Mario | |
dc.contributor.author | Martínez Martín, Ester | |
dc.contributor.author | Sanz, Pedro J | |
dc.contributor.author | del Pobil, Angel P. | |
dc.date.accessioned | 2010-09-27T11:51:14Z | |
dc.date.available | 2010-09-27T11:51:14Z | |
dc.date.issued | 2008 | |
dc.identifier.issn | 18612776 | |
dc.identifier.uri | http://hdl.handle.net/10234/19055 | |
dc.description.abstract | 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. | |
dc.format.extent | P. 321-335 | |
dc.language.iso | spa | |
dc.publisher | Springer Verlag | |
dc.relation.isPartOfSeries | Intelligent services robotics; 1 | |
dc.rights.uri | http://rightsstatements.org/vocab/CNE/1.0/ | * |
dc.subject | Mobile manipulator | |
dc.subject | Multisensor-based manipulator and grasping | |
dc.subject | Hybrid control | |
dc.subject.other | Robòtica | |
dc.title | The UJI librarian robot | |
dc.type | info:eu-repo/semantics/article | |
dc.rights.accessRights | info:eu-repo/semantics/openAccess |
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