%0 Journal Article %J International Journal of Distributed Sensor Networks %D 2016 %T CompaRob: The Shopping Cart Assistance Robot %A Sales, Jorge %A Martí, Jose V. %A Marin, Raul %A Enric Cervera %A Sanz, Pedro J. %X

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.

%B International Journal of Distributed Sensor Networks %V 12 %G eng %U http://dsn.sagepub.com/content/12/2/4781280.abstract %R 10.1155/2016/4781280 %0 Conference Paper %B 8th Conference on Autonomous Robot Systems and Competitions %D 2008 %T The 2007 Spanish Humanoids Competition: From the Winners Point of View %A García, Juan Carlos %A Javier Felip %A P.J. Sanz %K humanoid robot %K learning %K robot competitions %B 8th Conference on Autonomous Robot Systems and Competitions %C Aveiro (Portugal) %8 04/2008 %@ 978-972-96895-3-6 %G eng %0 Journal Article %J Revista Iberoamericana de Automática e Informática Industrial %D 2008 %T Manipulación Autónoma Multipropósito en el Robot de Servicios Jaume-2 %A M. Prats %A P.J. Sanz %A Ester Martinez-Martin %A R. Marín %A Angel P. del Pobil %B Revista Iberoamericana de Automática e Informática Industrial %V 5 %P 25–37 %G eng %N 2 %0 Book %B Col.lecció e-Treballs d'Informàtica i Tecnologia %D 2008 %T Recent Progress in Assistive Robots. Applications and Social Implications %A P.J. Sanz %A C. Balaguer %A Gabriel Recatala %X

%B Col.lecció e-Treballs d'Informàtica i Tecnologia %I Universitat Jaume I %C Castellón (Spain) %V 6 %G eng %0 Journal Article %J Journal of Intelligent Service Robotics %D 2008 %T The UJI Librarian Robot %A M. Prats %A Ester Martinez-Martin %A P.J. Sanz %A Angel P. del Pobil %B Journal of Intelligent Service Robotics %V 1 %P 321–335 %G eng %N 4 %0 Journal Article %J IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews) %D 2008 %T Vision-Based Grasp Tracking for Planar Objects %A Gabriel Recatala %A Carloni, R. %A Melchiorri, C. %A P.J. Sanz %A Enric Cervera %A Angel P. del Pobil %X

%B IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews) %V 38 %P 844 - 849 %8 Jan-11-2008 %G eng %N 6 %! IEEE Trans. Syst., Man, Cybern. C %R 10.1109/TSMCC.2008.2001579 %0 Journal Article %J Ieee Transactions on Systems Man and Cybernetics Part C-Applications and Reviews %D 2008 %T Vision-Based Grasp Tracking for Planar Objects %A Recatala, Gabriel %A Carloni, Raffaella %A Melchiorri, Claudio %A P.J. Sanz %A Enric Cervera %A Angel P. del Pobil %B Ieee Transactions on Systems Man and Cybernetics Part C-Applications and Reviews %V 38 %P 844-849 %G eng %U ://WOS:000260899300012 %9 Journal Article %R 10.1109/tsmcc.2008.2001579 %0 Journal Article %J Robotica %D 2007 %T Towards multipurpose autonomous manipulation with the UJI service robot %A M. Prats %A P.J. Sanz %A Angel P. del Pobil %A Ester Martinez-Martin %A R. Marín %B Robotica %V 25 %P 245–256 %G eng %N 2 %0 Conference Paper %B 2es Jornades de Recerca en Automàtica, Visió i Robòtica %D 2006 %T Sistema completo de manipulación autónoma basado en fusión de información sensorial y técnicas de aprendizaje orientado a la robótica de servicios %A P.J. Sanz %A Angel P. del Pobil %A Antonio Morales %A Gabriel Recatala %A Eris Chinellato %A M. Prats %A Ester Martinez-Martin %X

%B 2es Jornades de Recerca en Automàtica, Visió i Robòtica %8 07/2006 %@ 84-7653-885-5 %G eng %0 Conference Paper %B Workshop on Mobile Manipulators: Basic Techniques, New Trends and Applications in IEEE/RSJ International Conference on Intelligent Robots and Systems %D 2005 %T Jaume: The UJI Service Robot %A P.J. Sanz %A M. Prats %A Ester Martinez-Martin %A Angel P. del Pobil %A R. Marín %A J. Speth %A C. Achard %B Workshop on Mobile Manipulators: Basic Techniques, New Trends and Applications in IEEE/RSJ International Conference on Intelligent Robots and Systems %C Edmonton, Alberta, Canada %G eng %0 Book Section %B Artificial Intelligence and Soft Computing %D 2005 %T Robots Behave in the Real World: Looking for books in a library %A Ester Martinez-Martin %A M. Prats %A Angel P. del Pobil %A P.J. Sanz %B Artificial Intelligence and Soft Computing %I Acta Press %P 325–330 %@ 0-88986-536-1 %G eng %& Robots Behave in the Real World: Looking for books in a library %0 Conference Paper %B 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) %D 2004 %T Filter-based control of a gripper-to-object positioning movement %A Gabriel Recatala %A P.J. Sanz %A Enric Cervera %A Angel P. del Pobil %X

%B 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) %I IEEE %C The Hague, Netherlands %8 10/2004 %@ 0-7803-8567-5 %G eng %R 10.1109/ICSMC.2004.1401056 %0 Conference Paper %B 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) %D 2004 %T Grasp-based visual servoing for gripper-to-object positioning %A Gabriel Recatala %A P.J. Sanz %A Enric Cervera %A Angel P. del Pobil %B 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) %I IEEE %C Sendai, Japan %8 09/2004 %@ 0-7803-8464-4 %G eng %R 10.1109/IROS.2004.1389339 %0 Conference Paper %B Proc. Intl. Conf. on Intelligent Manipulation and Grasping %D 2004 %T Grasp-based visual servoing for the manipulation of planar objects %A Gabriel Recatala %A P.J. Sanz %A Enric Cervera %A Angel P. del Pobil %X

%B Proc. Intl. Conf. on Intelligent Manipulation and Grasping %C Genoa, Italy %8 07/2004 %@ 88-900426-1-3 %G eng %0 Conference Paper %B IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 %D 2004 %T Homography-based grasp tracking for planar objects %A Carloni, R. %A Gabriel Recatala %A Melchiorri, C. %A P.J. Sanz %A Enric Cervera %X

%B IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 %I IEEE %C New Orleans, LA, USA %8 04/2004 %@ 0-7803-8232-3 %G eng %R 10.1109/ROBOT.2004.1307246 %0 Conference Paper %B Mechatronics & Robotics'04 %D 2004 %T Visual servoing for the tool-to-object positioning with respect to welding points %A Gabriel Recatala %A P.J. Sanz %A Enric Cervera %A Angel P. del Pobil %X

%B Mechatronics & Robotics'04 %I Sascha Eysoldt Verlag %C Aachen, Germany %8 09/2004 %@ 3-938153-50-X %G eng %0 Conference Paper %B Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems %D 2002 %T Visual grasp determination and tracking in 2D dynamic scenarios %A Gabriel Recatala %A M. Sorg %A J. Leupold %A P.J. Sanz %A Angel P. del Pobil %B Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems %C Lausanne, Switzerland %8 10/2002 %@ 0-7803-7399-5 %G eng %R 10.1109/IRDS.2002.1041356 %0 Conference Paper %B Proc. IEEE Intl. Conf. on Robotics and Automation %D 2001 %T Heuristic Vision-Based Computation of Planar Antipodal Grasps on Unknown Objects %A Antonio Morales %A Gabriel Recatala %A P.J. Sanz %A Angel P. del Pobil %B Proc. IEEE Intl. Conf. on Robotics and Automation %C Seoul, Korea %8 05/2001 %@ 0-7803-6578-X %G eng %R 10.1109/ROBOT.2001.932613 %0 Conference Paper %B VIII Encuentros de Geometría Computacional %D 1999 %T Razonamiento Geométrico para la Determinación 2D de Puntos de Agarre %A P.J. Sanz %A V.J. Traver %A Antonio Morales %A Gabriel Recatala %X


%B VIII Encuentros de Geometría Computacional %C Castellón (Spain) %8 07/1999 %@ 87-88306-42-9 %G eng %0 Conference Paper %B Proc. IEEE Intl. Symposium on Computational Intelligence in Robotics and Automation %D 1999 %T Towards a Reactive Grasping System for an Industrial Robot Arm %A P.J. Sanz %A Gabriel Recatala %A V.J. Traver %A Angel P. del Pobil %B Proc. IEEE Intl. Symposium on Computational Intelligence in Robotics and Automation %C Monterey, California, USA %8 11/1999 %@ 0-7803-5806-6 %G eng %R 10.1109/CIRA.1999.809928 %0 Conference Paper %B Progreso em Inteligência Artificial. Actas do 6$^{o}$ Congresso Iberoamericano de Inteligência Artificial %D 1998 %T Computing Contact Stability Grasps of Unknown Objects by Means of Vision %A Antonio Morales %A P.J. Sanz %A Gabriel Recatala %A Angel P. del Pobil %A J.M. Iñesta %E Helder Coelho %X

%B Progreso em Inteligência Artificial. Actas do 6$^{o}$ Congresso Iberoamericano de Inteligência Artificial %I Edições Colibri %C Lisboa, Portugal %8 10/1998 %@ 972-772-033-1 %G eng %0 Conference Paper %B Proc. IEEE Intl. Conf. on Robotics and Automation %D 1998 %T Vision-Guided Grasping of Unknown Objects for Service Robots %A P.J. Sanz %A Angel P. del Pobil %A J.M. Iñesta %A Gabriel Recatala %B Proc. IEEE Intl. Conf. on Robotics and Automation %C Leuven, Belgium %8 05/1998 %@ 0-7803-4758-7 %G eng %R 10.1109/ROBOT.1998.680889