Transforming library operation with robotics
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MARTINEZ-MARTIN, Ester, RECATALA, Gabriel and DEL POBIL, Angel P. (2019) Transforming library operation with robotics. Paper presented at: IFLA WLIC 2019 - Athens, Greece - Libraries: dialogue for change in Session S08 - Information Technology. In: Robots in libraries: challenge or opportunity?, 21-22 August 2019, Wildau, Germany.
Bookmark or cite this item: https://library.ifla.org/id/eprint/2696
Language:
English (Original)
Available under licence Creative Commons Attribution.
Bookmark or cite this item: https://library.ifla.org/id/eprint/2696/1/s08-2019-martinez-martin-en.pdf
Abstract
Transforming library operation with robotics
Some years ago, in the context of a project titled "the UJI librarian robot", the UJI Robotic Intelligence Lab developed a robotic mobile manipulator that was 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 was composed of a robot arm mounted on top of a mobile vehicle, and was only provided with the book code, a library map and some knowledge about its logical structure. The system took advantage of the spatio-temporal constraints and regularities of the library environment by applying disparate techniques such as stereo vision, visual tracking, probabilistic matching, optical character recognition, motion estimation, multisensor-based grasping, visual servoing and hybrid control, in such a way that it exhibited a robust and dependable performance. The system was tested, and experimental results showed how it was able to robustly locate and grasp a book in a reasonable time without human intervention. A second version of the system was developed later enhancing the robot capabilities by replacing the parallel-jaw gripper with a three-finger hand, so that book extraction was just one among many possible manipulation skills.Item Type: | Conference or Workshop Item (Paper) | ||||||||||||
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Conference details: | IFLA WLIC 2019 - Athens, Greece - Libraries: dialogue for changeSession S08 - Robots in libraries: challenge or opportunity - Information Technology |
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Divisions: | Division 3 Library Services > Information Technology Section | ||||||||||||
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Uncontrolled Keywords: | Robotics, library assistance | ||||||||||||
Date Deposited: | 11 Sep 2019 12:24 | ||||||||||||
Last Modified: | 12 Sep 2019 19:22 | ||||||||||||
URI: | https://library.ifla.org/id/eprint/2696 |
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