{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,13]],"date-time":"2025-10-13T08:58:30Z","timestamp":1760345910270},"reference-count":27,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2007,3,1]],"date-time":"2007-03-01T00:00:00Z","timestamp":1172707200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2007,3]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper presents a modular control architecture that enables a mobile manipulator to be compliant and perform manipulation tasks in partially known everyday human environments. An impedance velocity\/force controller that allows the execution of a great variety of tasks under the Task Frame Formalism (TFF) is implemented.<\/jats:p><jats:p>Tasks are represented as a net of basic abilities which are performed by the robot using the impedance controller. Mechanisms for switching between abilities according to the robot's perceptual state are defined.<\/jats:p><jats:p>We show the validity of our approach on the UJI Service Robot, making it to perform a common daily task such as opening a door. Finally, we apply this framework to make progress on the new version of the UJI Librarian Robot, making a great step forward in the way the robot manipulates books.<\/jats:p>","DOI":"10.1017\/s0263574706003304","type":"journal-article","created":{"date-parts":[[2007,1,18]],"date-time":"2007-01-18T10:07:05Z","timestamp":1169114825000},"page":"245-256","source":"Crossref","is-referenced-by-count":12,"title":["Towards multipurpose autonomous manipulation with the UJI service robot"],"prefix":"10.1017","volume":"25","author":[{"given":"M.","family":"Prats","sequence":"first","affiliation":[]},{"given":"P. J.","family":"Sanz","sequence":"additional","affiliation":[]},{"given":"A. 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Suthakorn J. , Lee S. , Zhou Y. , Thomas R. and Choudhury S. , \u201cA Robotic Library System for an Off-Site Shelving Facility,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (2002) pp. 3589\u20133594.","DOI":"10.1109\/ROBOT.2002.1014266"},{"key":"S0263574706003304_N103A8","doi-asserted-by":"publisher","DOI":"10.1115\/1.3139652"},{"key":"S0263574706003304_N103F3","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700401"},{"key":"S0263574706003304_N1041D","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700402"},{"key":"S0263574706003304_N10447","volume-title":"Autonomous Robots","author":"Bekey","year":"2005"},{"key":"S0263574706003304_N101CF","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1981.4308708"},{"key":"S0263574706003304_N10491","volume-title":"Advanced Textbooks in Control and Signal Processing","author":"Sciavicco","year":"2000"},{"key":"S0263574706003304_N104BA","volume-title":"Behavior-Based Robotics","author":"Arkin","year":"1998"},{"key":"S0263574706003304_N104D5","doi-asserted-by":"publisher","DOI":"10.1023\/A:1020975419546"},{"key":"S0263574706003304_N104FF","first-page":"3912","volume-title":"Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics","author":"Ramos-Garijo","year":"2003"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574706003304","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,5,10]],"date-time":"2023-05-10T12:40:44Z","timestamp":1683722444000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574706003304\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2007,3]]},"references-count":27,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2007,3]]}},"alternative-id":["S0263574706003304"],"URL":"https:\/\/doi.org\/10.1017\/s0263574706003304","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2007,3]]}}}