@article {392, title = {CompaRob: The Shopping Cart Assistance Robot}, journal = {International Journal of Distributed Sensor Networks}, volume = {12}, year = {2016}, abstract = {

Technology has recently been developed which offers an excellent opportunity to design systems with the ability to help people in their own houses. In particular, assisting elderly people in their environments is something that can significantly improve their quality of life. However, helping elderly people outside their usual environment is also necessary, to help them to carry out daily tasks like shopping. In this paper we present a person-following shopping cart assistance robot, capable of helping elderly people to carry products in a supermarket. First of all, the paper presents a survey of related systems that perform this task, using different approaches, such as attachable modules and computer vision. After that, the paper describes in detail the proposed system and its main features. The cart uses ultrasonic sensors and radio signals to provide a simple and effective person localization and following method. Moreover, the cart can be connected to a portable device like a smartphone or tablet, thus providing ease of use to the end user. The prototype has been tested in a grocery store, while simulations have been done to analyse its scalability in larger spaces where multiple robots could coexist.

}, doi = {10.1155/2016/4781280}, url = {http://dsn.sagepub.com/content/12/2/4781280.abstract}, author = {Sales, Jorge and Mart{\'\i}, Jose V. and Marin, Raul and Enric Cervera and Sanz, Pedro J.} } @conference {58, title = {The 2007 Spanish Humanoids Competition: From the Winners Point of View}, booktitle = {8th Conference on Autonomous Robot Systems and Competitions}, year = {2008}, month = {04/2008}, address = {Aveiro (Portugal)}, keywords = {humanoid robot, learning, robot competitions}, isbn = {978-972-96895-3-6}, author = {Garc{\'\i}a, Juan Carlos and Javier Felip and P.J. Sanz} } @article {198, title = {Manipulaci{\'o}n Aut{\'o}noma Multiprop{\'o}sito en el Robot de Servicios Jaume-2}, journal = {Revista Iberoamericana de Autom{\'a}tica e Inform{\'a}tica Industrial}, volume = {5}, year = {2008}, pages = {25{\textendash}37}, issn = {1697-7912}, author = {M. Prats and P.J. Sanz and Ester Martinez-Martin and R. Mar{\'\i}n and Angel P. del Pobil} } @book {177, title = { Recent Progress in Assistive Robots. Applications and Social Implications}, series = {Col.lecci{\'o} e-Treballs d{\textquoteright}Inform{\`a}tica i Tecnologia}, volume = {6}, year = {2008}, publisher = {Universitat Jaume I}, organization = {Universitat Jaume I}, address = {Castell{\'o}n (Spain)}, abstract = {

}, issn = {978-84-8021-669-2}, author = {P.J. Sanz and C. Balaguer and Gabriel Recatala} } @article {197, title = {The UJI Librarian Robot}, journal = {Journal of Intelligent Service Robotics}, volume = {1}, year = {2008}, pages = {321{\textendash}335}, issn = {1861-2276}, author = {M. Prats and Ester Martinez-Martin and P.J. Sanz and Angel P. del Pobil} } @article {241, title = {Vision-Based Grasp Tracking for Planar Objects}, journal = {Ieee Transactions on Systems Man and Cybernetics Part C-Applications and Reviews}, volume = {38}, number = {6}, year = {2008}, note = {Times Cited: 2 2}, pages = {844-849}, type = {Journal Article}, issn = {1094-6977}, doi = {10.1109/tsmcc.2008.2001579}, url = {://WOS:000260899300012}, author = {Recatala, Gabriel and Carloni, Raffaella and Melchiorri, Claudio and P.J. Sanz and Enric Cervera and Angel P. del Pobil} } @article {175, title = {Vision-Based Grasp Tracking for Planar Objects}, journal = {IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews)}, volume = {38}, year = {2008}, month = {Jan-11-2008}, pages = {844 - 849}, abstract = {

}, issn = {1094-6977}, doi = {10.1109/TSMCC.2008.2001579}, author = {Gabriel Recatala and Carloni, R. and Melchiorri, C. and P.J. Sanz and Enric Cervera and Angel P. del Pobil} } @article {199, title = {Towards multipurpose autonomous manipulation with the UJI service robot}, journal = {Robotica}, volume = {25}, year = {2007}, pages = {245{\textendash}256}, issn = {0263-5747}, author = {M. Prats and P.J. Sanz and Angel P. del Pobil and Ester Martinez-Martin and R. Mar{\'\i}n} } @conference {171, title = {Sistema completo de manipulaci{\'o}n aut{\'o}noma basado en fusi{\'o}n de informaci{\'o}n sensorial y t{\'e}cnicas de aprendizaje orientado a la rob{\'o}tica de servicios}, booktitle = {2es Jornades de Recerca en Autom{\`a}tica, Visi{\'o} i Rob{\`o}tica}, year = {2006}, month = {07/2006}, abstract = {

}, isbn = {84-7653-885-5}, author = {P.J. Sanz and Angel P. del Pobil and Antonio Morales and Gabriel Recatala and Eris Chinellato and M. Prats and Ester Martinez-Martin} } @conference {220, title = {Jaume: The UJI Service Robot}, booktitle = {Workshop on Mobile Manipulators: Basic Techniques, New Trends and Applications in IEEE/RSJ International Conference on Intelligent Robots and Systems}, year = {2005}, address = {Edmonton, Alberta, Canada}, author = {P.J. Sanz and M. Prats and Ester Martinez-Martin and Angel P. del Pobil and R. Mar{\'\i}n and J. Speth and C. Achard} } @inbook {190, title = {Robots Behave in the Real World: Looking for books in a library}, booktitle = {Artificial Intelligence and Soft Computing}, year = {2005}, pages = {325{\textendash}330}, publisher = {Acta Press}, organization = {Acta Press}, chapter = {Robots Behave in the Real World: Looking for books in a library}, isbn = {0-88986-536-1}, author = {Ester Martinez-Martin and M. Prats and Angel P. del Pobil and P.J. Sanz} } @conference {168, title = {Filter-based control of a gripper-to-object positioning movement}, booktitle = {2004 IEEE International Conference on Systems, Man and Cybernetics (IEEE Cat. No.04CH37583)2004 IEEE International Conference on Systems, Man and Cybernetics (IEEE Cat. No.04CH37583)}, year = {2004}, month = {10/2004}, publisher = {IEEE}, organization = {IEEE}, address = {The Hague, Netherlands}, abstract = {

}, isbn = {0-7803-8567-5}, doi = {10.1109/ICSMC.2004.1401056}, author = {Gabriel Recatala and P.J. Sanz and Enric Cervera and Angel P. del Pobil} } @conference {167, title = {Grasp-based visual servoing for gripper-to-object positioning}, booktitle = {2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)}, year = {2004}, month = {09/2004}, publisher = {IEEE}, organization = {IEEE}, address = {Sendai, Japan}, isbn = {0-7803-8464-4}, doi = {10.1109/IROS.2004.1389339}, author = {Gabriel Recatala and P.J. Sanz and Enric Cervera and Angel P. del Pobil} } @conference {165, title = {Grasp-based visual servoing for the manipulation of planar objects}, booktitle = {Proc. Intl. Conf. on Intelligent Manipulation and Grasping}, year = {2004}, month = {07/2004}, address = {Genoa, Italy}, abstract = {

}, isbn = {88-900426-1-3}, author = {Gabriel Recatala and P.J. Sanz and Enric Cervera and Angel P. del Pobil} } @conference {164, title = {Homography-based grasp tracking for planar objects}, booktitle = {IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA {\textquoteright}04. 2004IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA {\textquoteright}04. 2004}, year = {2004}, month = {04/2004}, publisher = {IEEE}, organization = {IEEE}, address = {New Orleans, LA, USA}, abstract = {

}, isbn = {0-7803-8232-3}, doi = {10.1109/ROBOT.2004.1307246}, author = {Carloni, R. and Gabriel Recatala and Melchiorri, C. and P.J. Sanz and Enric Cervera} } @conference {166, title = {Visual servoing for the tool-to-object positioning with respect to welding points}, booktitle = {Mechatronics \& Robotics{\textquoteright}04}, year = {2004}, month = {09/2004}, publisher = {Sascha Eysoldt Verlag}, organization = {Sascha Eysoldt Verlag}, address = {Aachen, Germany}, abstract = {

}, isbn = {3-938153-50-X}, author = {Gabriel Recatala and P.J. Sanz and Enric Cervera and Angel P. del Pobil} } @conference {144, title = {Visual grasp determination and tracking in 2D dynamic scenarios}, booktitle = {Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems}, year = {2002}, month = {10/2002}, address = {Lausanne, Switzerland}, isbn = {0-7803-7399-5}, doi = {10.1109/IRDS.2002.1041356}, author = {Gabriel Recatala and M. Sorg and J. Leupold and P.J. Sanz and Angel P. del Pobil} } @conference {143, title = {Heuristic Vision-Based Computation of Planar Antipodal Grasps on Unknown Objects}, booktitle = {Proc. IEEE Intl. Conf. on Robotics and Automation}, year = {2001}, month = {05/2001}, address = {Seoul, Korea}, isbn = {0-7803-6578-X}, doi = {10.1109/ROBOT.2001.932613}, author = {Antonio Morales and Gabriel Recatala and P.J. Sanz and Angel P. del Pobil} } @conference {140, title = {Razonamiento Geom{\'e}trico para la Determinaci{\'o}n 2D de Puntos de Agarre}, booktitle = {VIII Encuentros de Geometr{\'\i}a Computacional}, year = {1999}, month = {07/1999}, address = {Castell{\'o}n (Spain)}, abstract = {


}, isbn = {87-88306-42-9}, author = {P.J. Sanz and V.J. Traver and Antonio Morales and Gabriel Recatala} } @conference {141, title = {Towards a Reactive Grasping System for an Industrial Robot Arm}, booktitle = {Proc. IEEE Intl. Symposium on Computational Intelligence in Robotics and Automation}, year = {1999}, month = {11/1999}, address = {Monterey, California, USA}, isbn = {0-7803-5806-6}, doi = {10.1109/CIRA.1999.809928}, author = {P.J. Sanz and Gabriel Recatala and V.J. Traver and Angel P. del Pobil} } @conference {138, title = {Computing Contact Stability Grasps of Unknown Objects by Means of Vision}, booktitle = {Progreso em Intelig{\^e}ncia Artificial. Actas do 6$^{o}$ Congresso Iberoamericano de Intelig{\^e}ncia Artificial}, year = {1998}, month = {10/1998}, publisher = {Edi{\c c}{\~o}es Colibri}, organization = {Edi{\c c}{\~o}es Colibri}, address = {Lisboa, Portugal}, abstract = {

}, isbn = {972-772-033-1}, author = {Antonio Morales and P.J. Sanz and Gabriel Recatala and Angel P. del Pobil and J.M. I{\~n}esta}, editor = {Helder Coelho} } @conference {137, title = {Vision-Guided Grasping of Unknown Objects for Service Robots}, booktitle = {Proc. IEEE Intl. Conf. on Robotics and Automation}, year = {1998}, month = {05/1998}, address = {Leuven, Belgium}, isbn = {0-7803-4758-7}, doi = {10.1109/ROBOT.1998.680889}, author = {P.J. Sanz and Angel P. del Pobil and J.M. I{\~n}esta and Gabriel Recatala} }