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The UJI librarian robot

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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.

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Authors and Affiliations

  1. Castellón, Spain

    Mario Prats, Ester Martínez, Pedro J. Sanz & Angel P. del Pobil

Authors
  1. Mario Prats
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  2. Ester Martínez
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  3. Pedro J. Sanz
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  4. Angel P. del Pobil
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Correspondence to Mario Prats.

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Prats, M., Martínez, E., Sanz, P.J. et al. The UJI librarian robot. Intel Serv Robotics 1, 321–335 (2008). https://doi.org/10.1007/s11370-008-0028-1

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  • DOI: https://doi.org/10.1007/s11370-008-0028-1

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