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The authors aim at recognition of multiple objects by using robot vision and its manipulation. In the case where multiple objects are arranged in a shelf, front objects may conceal some objects behind them. A robot can recognize these objects if it can recognize the front objects using prior knowledge and remove them with its arm. However, it sometimes fails to recognize the objects because of the...
The authors previously proposed an Unmanned Ground Vehicle (UGV) in an orchard as a base platform for autonomous robot systems for performing tasks such as monitoring, pesticide spraying, and harvesting. To control a UGV in a semi-natural environment, accurate self-localization and a control law that is robust under large disturbances from rough terrain are the first priorities. In this paper, a self-localization...
A model of a flexible manipulator is developed with considering the geometrical nonlinearity and the effect of gravity. The model can be divided into a flexible dynamic subsystem and a rigid dynamic subsystem, and a decomposed dynamic control (DDC) including flexible dynamic control and rigid dynamic control is proposed for a controller design of the flexible manipulator. The flexible dynamic control...
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