This paper presents work in progress towards a complete system working to assist users in a library. With this aim, the system must be capable to looking for a specific book in a shelf, asked by any user, and whether it is found, deliver it as soon as possible to the user. To get its objectives the system integrates automatic object recognition, visually guided grasping, and force feedback, among other advanced capabilities. Implementation details about the main modules developed presently are shown. Finally, after success in preliminary results obtained in our campus, we are encouraged to fallow working in this way to obtain the complete prototype.