A ROBOT FOR INTELLIGENT BOOK HANDLING

摘要

This paper presents an intelligent robotic system for assisting users in a library. With this aim, the system must be capable of visually searching for a specific book in a shelf, requested by any user, and if it is found, deliver it as soon as possible to the user. To get its objectives the system integrates visual object recognition, visually guided grasping, and force control, among other capabilities. Implementation details about the main modules developed presently are shown.