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lear
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ap
p
licatio
n
s
.
Dec
is
io
n
tr
ee
-
b
ased
d
ec
is
io
n
is
in
teg
r
ated
with
r
o
tatin
g
t
h
e
r
o
b
o
tic
a
r
m
in
th
e
tr
ajec
t
o
r
y
d
ef
in
e
d
b
y
t
h
e
s
eq
u
en
ce
o
f
o
p
e
r
atio
n
s
[
9
]
.
R
o
b
o
tic
h
an
d
g
r
asp
in
g
u
n
s
ee
n
o
b
jects
is
d
escr
ib
ed
in
[
1
0
]
.
I
t
im
p
lem
en
ted
th
e
p
ick
,
s
en
s
e,
an
d
p
lace
s
tr
ateg
y
u
s
in
g
ad
ap
tiv
e
tec
h
n
iq
u
es.
A
r
o
b
o
tic
ar
m
th
at
ca
n
g
r
asp
o
b
jects f
r
o
m
o
u
ts
id
e
is
m
o
r
e
co
m
m
o
n
.
T
h
e
ar
m
th
at
h
o
ld
s
th
e
o
b
ject
f
r
o
m
in
s
id
e
is
i
m
p
lem
en
ted
in
[
1
1
]
.
Sy
m
m
etr
ical
m
o
v
em
en
t
f
o
r
g
r
asp
in
g
is
u
s
ed
h
er
e
f
o
r
h
o
l
d
in
g
th
e
o
b
ject
with
s
tab
ilit
y
.
W
ater
b
o
ttle
id
en
tific
atio
n
wa
s
ca
r
r
ied
o
u
t
u
s
in
g
th
e
YOL
Ov
5
alg
o
r
ith
m
with
8
5
%
ac
cu
r
ac
y
o
f
g
r
asp
in
g
th
e
b
o
ttle
b
y
tak
in
g
th
e
p
ath
tr
ajec
to
r
y
[
1
2
]
.
Fo
r
d
ef
o
r
m
a
b
le
o
b
jects,
g
r
ip
s
tr
en
g
th
is
im
p
o
r
tan
t
[
1
3
]
t
o
f
o
r
m
a
s
tab
le
g
r
ip
with
o
u
t
d
a
m
ag
in
g
th
e
o
b
ject.
Po
in
t
clo
u
d
s
ca
n
n
ed
o
u
tp
u
t
is
u
s
ed
to
d
ef
in
e
th
e
g
r
ip
p
er
c
o
o
r
d
in
ates
to
h
o
ld
th
e
o
b
ject.
T
ac
tile
s
en
s
o
r
-
b
ased
id
en
tific
atio
n
o
f
o
b
ject
h
a
r
d
n
e
s
s
is
ca
r
r
ied
o
u
t
u
s
in
g
m
ac
h
in
e
lear
n
in
g
[
1
4
]
.
T
h
e
C
ar
tesi
an
r
o
b
o
t
is
tr
ain
e
d
t
o
d
etec
t
5
h
ar
d
n
ess
lev
els
u
s
in
g
a
m
ac
h
in
e
lear
n
in
g
alg
o
r
ith
m
.
T
wis
ted
s
tr
in
g
s
co
n
tr
o
l
th
e
r
o
b
o
tic
h
an
d
[
1
5
]
an
d
in
tellig
en
t
s
en
s
in
g
-
b
ased
g
r
ip
is
ac
h
iev
ed
.
A
h
u
m
an
o
i
d
3
D
-
p
r
in
ted
h
a
n
d
with
5
f
in
g
er
s
with
a
v
ir
tu
al
r
ea
lity
-
b
ased
m
o
n
ito
r
in
g
s
y
s
tem
is
im
p
lem
en
ted
.
E
x
o
s
k
el
eto
n
r
o
b
o
ts
ar
e
p
iv
o
tal
in
s
tr
o
k
e
r
eh
a
b
ilit
atio
n
,
u
tili
zin
g
in
n
o
v
ativ
e
in
v
er
s
e
k
in
em
atics
an
d
r
o
b
u
s
t
n
o
n
li
n
ea
r
co
n
tr
o
l
ap
p
r
o
ac
h
es.
T
h
ese
ad
v
an
ce
m
e
n
ts
en
h
an
ce
tr
ajec
to
r
y
ac
cu
r
ac
y
a
n
d
en
s
u
r
e
s
tab
ilit
y
d
u
r
i
n
g
p
ass
iv
e
th
er
ap
y
.
Fu
t
u
r
e
d
ir
ec
tio
n
s
in
v
o
lv
e
in
teg
r
atin
g
v
is
u
al
s
y
s
tem
s
lik
e
Kin
ec
t
f
o
r
f
u
r
th
e
r
r
e
f
in
em
en
t
an
d
ef
f
ec
t
iv
en
ess
in
r
eh
a
b
ilit
atio
n
p
r
o
to
co
ls
[
1
6
]
.
B
ilater
al
h
ap
tic
co
llab
o
r
atio
n
[
1
7
]
is
p
r
o
p
o
s
ed
f
o
r
h
u
m
a
n
-
r
o
b
o
t
c
o
o
p
er
atio
n
,
f
ea
tu
r
in
g
a
C
o
Gr
ip
p
er
a
n
d
wea
r
ab
l
e
in
ter
f
ac
e.
T
h
r
ee
u
s
er
s
tu
d
ies
co
n
f
ir
m
ef
f
icac
y
,
s
h
o
win
g
r
e
d
u
ce
d
task
tim
e
an
d
im
p
r
o
v
e
d
g
r
asp
co
n
tr
o
l.
T
h
e
s
y
s
tem
in
teg
r
ates
s
o
n
ar
s
en
s
in
g
an
d
v
ib
r
o
tactile
f
ee
d
b
ac
k
f
o
r
en
h
an
ce
d
co
m
m
u
n
icatio
n
.
Fu
tu
r
e
en
h
an
ce
m
en
ts
in
clu
d
e
au
to
m
ate
d
g
r
ip
p
er
r
ec
o
n
f
ig
u
r
atio
n
an
d
im
p
r
o
v
e
tactile
cu
es
f
o
r
u
s
er
r
ec
o
g
n
itio
n
.
G
r
asp
in
g
an
d
liftin
g
o
b
jects
[
1
8
]
with
s
u
itab
le
c
o
n
tr
o
l
r
em
ai
n
s
a
ch
allen
g
e
in
r
o
b
o
tics
.
Neu
r
o
p
h
y
s
io
lo
g
y
s
h
ed
s
lig
h
t
o
n
h
u
m
an
h
an
d
d
y
n
am
ics,
in
s
p
ir
in
g
r
o
b
o
tic
s
o
lu
tio
n
s
.
R
ea
l
-
tim
e
p
r
o
ce
s
s
in
g
o
f
tactile
d
ata
p
o
s
es
c
o
m
p
u
tatio
n
al
h
u
r
d
les.
A
b
io
-
in
s
p
ir
ed
ap
p
r
o
ac
h
u
tili
z
in
g
ce
llu
lar
n
o
n
lin
ea
r
/
n
eu
r
al
n
etwo
r
k
s
is
p
r
o
p
o
s
ed
,
en
h
an
ci
n
g
r
o
b
o
tic
g
r
asp
in
g
ca
p
ab
ilit
ies.
Su
cc
ess
f
u
l
g
r
asp
s
o
f
d
iv
er
s
e
o
b
jects
v
alid
ate
th
e
s
y
s
tem
’
s
ef
f
icac
y
.
State
o
f
t
h
e
ar
t
m
an
ip
u
lato
r
s
co
n
tr
o
l
u
s
in
g
m
ac
h
in
e
lear
n
in
g
alg
o
r
ith
m
s
r
e
v
iewe
d
in
[
1
9
]
in
d
icate
c
o
g
n
itiv
e
s
k
ills
d
ev
e
lo
p
m
en
t
f
o
r
r
o
b
o
t
s
.
R
ec
en
t
s
tu
d
ies
[
2
0
]
h
av
e
f
o
c
u
s
ed
o
n
th
e
ev
o
lu
tio
n
o
f
r
o
b
o
tic
ar
m
s
o
v
er
th
e
p
ast
two
d
ec
ad
es,
d
elin
ea
tin
g
v
ar
io
u
s
p
a
r
am
eter
s
in
f
lu
e
n
ci
n
g
th
eir
p
er
f
o
r
m
a
n
ce
.
T
h
ese
in
clu
d
e
ac
c
u
r
ac
y
,
r
e
p
ea
tab
ilit
y
,
k
in
em
atics,
an
d
wo
r
k
in
g
en
v
elo
p
e.
C
o
m
m
e
r
cially
av
ailab
le
ar
m
s
e
x
h
ib
it
d
i
v
er
s
e
ca
p
ab
ilit
ies,
y
et
r
esear
c
h
h
ig
h
li
g
h
ts
g
ap
s
i
n
o
p
tim
izatio
n
an
d
s
u
g
g
ests
av
en
u
es
f
o
r
f
u
t
u
r
e
alg
o
r
ith
m
ic
an
d
s
im
u
latio
n
-
d
r
iv
en
en
h
an
c
em
en
ts
.
Desig
n
in
g
[
2
1
]
a
th
r
ee
f
in
g
e
r
g
r
i
p
p
er
r
o
b
o
tic
ar
m
with
lo
w
-
co
s
t
co
m
p
o
n
en
ts
to
en
ab
le
v
ar
io
u
s
o
b
j
ec
t
-
p
ick
in
g
task
s
is
d
is
cu
s
s
ed
.
I
n
co
r
p
o
r
atin
g
a
f
i
v
e
-
f
in
g
e
r
g
r
i
p
p
er
an
d
p
r
ec
is
e
co
n
tr
o
l
alg
o
r
ith
m
s
,
th
e
p
r
o
t
o
ty
p
e
d
em
o
n
s
tr
ates
ef
f
ec
tiv
e
f
u
n
ctio
n
ality
th
r
o
u
g
h
co
m
p
r
eh
e
n
s
iv
e
test
in
g
.
Hu
m
an
o
id
m
o
tio
n
[
2
2
]
p
lan
n
in
g
f
o
r
r
o
b
o
tic
a
r
m
s
in
teg
r
ates
h
u
m
an
ar
m
p
h
y
s
ics
an
d
r
ein
f
o
r
ce
m
en
t
lear
n
in
g
,
p
r
o
m
is
in
g
s
af
er
in
ter
ac
tio
n
f
o
r
ag
ed
in
d
i
v
id
u
als.
R
o
b
o
tic
ar
m
co
n
tr
o
l f
o
r
p
r
ess
,
g
r
asp
,
an
d
f
lip
o
p
e
r
atio
n
was c
o
n
tr
o
lled
u
s
in
g
im
ag
e
in
p
u
ts
to
a
d
u
al
-
ar
m
r
o
b
o
t
[
2
3
]
.
E
x
p
er
im
e
n
tal
r
esu
lts
s
h
o
w
s
u
cc
ess
f
u
l
im
p
lem
en
tatio
n
,
en
ab
lin
g
o
b
ject
m
an
ip
u
latio
n
v
ia
h
an
d
g
estu
r
es.
A
p
ick
-
an
d
-
p
lace
alg
o
r
ith
m
[
2
4
]
u
s
in
g
a
m
u
ltira
te
ev
e
n
t
-
tr
ig
g
er
ed
s
lid
in
g
m
o
d
e
co
n
tr
o
ller
f
o
r
a
r
o
b
o
tic
ar
m
in
3
D
s
p
ac
e
is
p
r
o
p
o
s
ed
.
C
o
n
tr
o
l
u
p
d
ates
o
cc
u
r
wh
en
tr
ig
g
e
r
in
g
r
u
les
ar
e
v
io
lated
,
o
p
tim
izin
g
r
eso
u
r
ce
u
s
e.
Valid
ated
o
n
a
h
u
m
an
a
r
m
s
y
s
tem
,
it
d
em
o
n
s
tr
ates
ef
f
icien
cy
in
o
b
ject
m
an
i
p
u
latio
n
wit
h
m
in
im
u
m
co
n
tr
o
l
u
p
d
ates.
A
r
em
o
tely
o
p
e
r
ated
6
d
eg
r
ee
s
o
f
f
r
ee
d
o
m
(
6
-
Do
F)
r
o
b
o
tic
m
an
ip
u
lato
r
was
d
esig
n
ed
f
o
r
th
e
s
wab
co
llectio
n
o
f
C
o
v
i
d
p
atien
ts
[
2
5
]
.
R
o
b
o
tic
m
an
ip
u
lato
r
s
n
e
ed
p
r
ec
is
e
o
p
e
r
atio
n
,
a
n
d
m
o
r
e
wo
r
k
n
ee
d
s
to
b
e
d
o
n
e
to
p
r
o
v
id
e
ass
is
tiv
e
s
o
lu
tio
n
s
to
h
u
m
a
n
s
.
On
e
o
f
th
e
p
r
im
a
r
y
lim
itatio
n
s
o
f
cu
r
r
en
t
r
o
b
o
tic
a
r
m
s
is
th
e
ch
allen
g
e
o
f
r
o
b
u
s
t
g
r
as
p
in
g
.
T
h
e
s
u
r
f
ac
e
cu
r
v
atu
r
e
o
f
o
b
jects
p
o
s
es
s
ig
n
if
ican
t
d
if
f
icu
lties
,
n
e
ce
s
s
itatin
g
in
teg
r
ated
ap
p
r
o
ac
h
es
to
m
an
ag
e
r
ea
l
-
tim
e
g
r
asp
in
g
e
f
f
ec
tiv
ely
.
Ad
d
itio
n
ally
,
th
e
lim
ited
Do
F
in
m
an
y
r
o
b
o
tic
ar
m
s
r
estri
cts
p
r
ec
is
e
co
n
tr
o
l,
p
ar
ticu
lar
ly
in
ar
m
s
with
m
u
lt
ip
le
Do
Fs
.
T
h
e
co
n
tr
o
l
an
d
in
ter
f
ac
e
m
ec
h
an
is
m
s
o
f
r
o
b
o
tic
ar
m
s
also
p
r
esen
t
s
u
b
s
tan
tial
lim
itatio
n
s
.
C
o
m
m
o
n
in
p
u
t
d
ev
ices
s
u
ch
as
jo
y
s
tick
s
,
k
ey
b
o
ar
d
s
,
m
ice,
a
n
d
to
u
ch
s
cr
ee
n
s
ar
e
n
o
n
-
in
tu
itiv
e
f
o
r
m
an
a
g
in
g
t
h
e
p
o
s
itio
n
,
o
r
ien
tatio
n
,
an
d
g
r
ip
o
f
r
o
b
o
tic
ar
m
s
.
J
o
y
s
tick
m
an
ip
u
latio
n
,
in
p
ar
ticu
lar
,
r
eq
u
ir
es
co
m
p
lex
tr
a
n
s
itio
n
s
b
etwe
en
d
if
f
er
en
t
co
n
tr
o
l
m
o
d
es,
co
m
p
licatin
g
u
s
er
o
p
e
r
a
tio
n
an
d
r
ed
u
cin
g
ef
f
icien
cy
.
R
ea
l
-
tim
e
p
r
o
ce
s
s
in
g
o
f
tactile
d
ata
an
d
th
e
n
ee
d
f
o
r
co
m
p
u
tatio
n
al
ef
f
icien
cy
p
o
s
e
s
ig
n
if
ican
t
h
u
r
d
les
f
o
r
r
o
b
o
tic
ar
m
s
.
B
alan
cin
g
co
m
p
u
tatio
n
al
r
eso
u
r
c
es
wh
ile
m
ain
tain
in
g
p
er
f
o
r
m
an
ce
is
an
o
n
g
o
in
g
ch
allen
g
e,
a
f
f
ec
ts
th
e
o
v
er
al
l
ef
f
ec
tiv
en
ess
o
f
r
o
b
o
tic
s
y
s
tem
s
.
C
u
r
r
en
t
r
o
b
o
tic
s
y
s
t
em
s
lack
in
tu
itiv
e
in
ter
f
ac
es
f
o
r
ef
f
ec
tiv
e
h
u
m
a
n
-
r
o
b
o
t
c
o
o
p
er
atio
n
,
m
ak
in
g
task
s
s
u
ch
as
g
r
asp
i
n
g
a
n
d
liftin
g
c
o
m
p
lex
an
d
in
ef
f
icien
t.
T
h
e
p
r
o
p
o
s
ed
s
y
s
tem
ad
d
r
ess
es
th
e
m
ajo
r
ity
o
f
ch
allen
g
es.
I
t
in
te
g
r
ates
ad
v
a
n
ce
d
v
is
u
al
s
y
s
tem
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
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J
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b
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to
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I
SS
N:
2722
-
2
5
8
6
Desig
n
a
n
d
d
ev
elo
p
men
t
o
f h
u
ma
n
o
id
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o
b
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a
r
m
(
S
h
r
ip
a
d
B
h
a
tla
w
a
n
d
e
)
13
an
d
im
p
r
o
v
e
d
f
ee
d
b
ac
k
to
e
n
h
an
ce
u
s
er
in
ter
ac
tio
n
an
d
o
v
er
all
u
s
ab
ilit
y
.
I
t
u
s
es
a
lig
h
tweig
h
t
Mo
b
ileNet
co
n
v
o
l
u
tio
n
al
n
eu
r
al
n
etwo
r
k
(
C
NN)
ar
ch
itectu
r
e,
o
f
f
er
s
h
ig
h
ac
cu
r
ac
y
an
d
a
d
d
r
ess
es
tr
ad
e
-
o
f
f
s
b
etwe
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etec
tio
n
p
r
ec
is
io
n
a
n
d
p
r
o
ce
s
s
in
g
tim
e.
2.
M
E
T
H
O
D
T
h
is
wo
r
k
p
r
esen
ts
th
e
d
esig
n
an
d
d
ev
elo
p
m
en
t
o
f
an
ass
is
ti
v
e
r
o
b
o
tic
ar
m
f
o
r
h
an
d
a
m
p
u
tees,
with
a
p
ar
ticu
lar
f
o
cu
s
o
n
m
im
ick
i
n
g
f
in
g
er
m
o
v
em
en
ts
.
Un
lik
e
a
b
io
lo
g
ical
h
a
n
d
th
at
r
ec
eiv
e
s
in
s
tr
u
ctio
n
s
f
r
o
m
th
e
b
r
ain
,
th
is
r
o
b
o
tic
ar
m
d
et
ec
ts
o
b
jects
th
r
o
u
g
h
a
co
m
p
u
t
er
v
is
io
n
s
y
s
tem
an
d
f
o
r
m
s
th
e
g
r
ip
ac
co
r
d
in
g
ly
.
T
h
e
wo
r
k
f
l
o
w
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
tem
in
Fig
u
r
e
1
in
v
o
l
v
es
a
s
eq
u
en
tial
p
r
o
ce
s
s
s
tar
tin
g
with
a
ca
m
er
a
ca
p
tu
r
in
g
v
id
eo
f
r
am
es.
T
h
es
e
f
r
am
es
ar
e
p
r
o
ce
s
s
ed
b
y
t
h
e
Mo
b
ileNet
ar
ch
itectu
r
e
f
o
r
o
b
ject
d
etec
tio
n
,
f
o
llo
wed
b
y
g
r
ip
f
o
r
m
atio
n
.
T
h
e
f
r
am
es
u
n
d
er
g
o
n
o
r
m
aliza
tio
n
an
d
r
esizin
g
to
a
s
tan
d
ar
d
i
ze
d
2
2
4
×2
2
4
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p
ix
el
f
o
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m
at.
T
h
e
cu
r
r
en
t sy
s
tem
u
s
es a
ca
m
er
a
-
m
o
u
n
ted
s
p
ec
tacl
e
to
ac
q
u
ir
e
i
n
f
o
r
m
atio
n
a
b
o
u
t
th
e
s
u
r
r
o
u
n
d
in
g
s
.
Fig
u
r
e
1
.
Hu
m
an
o
id
r
o
b
o
tic
ar
m
T
h
e
Mo
b
ileNet
C
NN
ex
tr
ac
t
s
r
elev
an
t
f
ea
tu
r
es
f
o
r
ef
f
ici
en
t
an
d
lig
h
tweig
h
t
o
b
ject
r
ec
o
g
n
itio
n
.
On
ce
th
e
s
y
s
tem
r
ec
o
g
n
izes
an
o
b
ject,
it
u
s
es
th
e
id
en
tifie
d
class
in
f
o
r
m
atio
n
,
s
u
ch
as
“
B
o
ttle
”
o
r
“
B
ag
,
”
to
tr
ig
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er
s
p
ec
if
ic
s
er
v
o
ac
tio
n
s
f
o
r
g
r
i
p
f
o
r
m
atio
n
.
T
h
e
s
er
v
o
m
o
to
r
s
th
en
co
n
tr
o
l
th
e
r
o
b
o
tic
ar
m
to
in
ter
ac
t
with
th
e
r
ec
o
g
n
ized
o
b
jects in
r
ea
l
-
tim
e,
estab
lis
h
in
g
a
s
ea
m
less
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teg
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b
etwe
en
v
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b
ased
r
ec
o
g
n
itio
n
an
d
r
o
b
o
tic
m
an
ip
u
latio
n
.
T
h
e
co
m
p
r
e
h
en
s
iv
e
ap
p
r
o
ac
h
d
eta
ils
th
e
co
llectio
n
an
d
p
r
e
p
r
o
ce
s
s
in
g
o
f
th
e
d
ataset
as th
e
in
itial p
h
ase,
f
o
llo
wed
b
y
an
in
-
d
ep
th
e
x
p
lo
r
atio
n
o
f
th
e
s
y
s
tem
d
esig
n
an
d
im
p
lem
en
tatio
n
p
r
o
ce
s
s
es.
2.
1
.
Da
t
a
s
et
a
nd
prepro
ce
s
s
i
ng
T
h
e
d
ataset
u
s
ed
f
o
r
tr
ai
n
in
g
th
e
r
o
b
o
tic
ar
m
’
s
co
m
p
u
ter
v
is
io
n
s
y
s
tem
co
m
p
r
is
es
1
,
9
4
3
cu
s
to
m
im
ag
es
s
o
u
r
ce
d
f
r
o
m
v
ar
io
u
s
o
p
en
-
s
o
u
r
ce
d
atasets
.
T
h
ese
i
m
ag
es
d
ep
ict
b
ag
s
an
d
b
o
ttles
o
f
d
if
f
er
en
t
co
l
o
r
s
,
s
h
ap
es,
an
d
s
izes.
T
h
e
d
ataset
is
es
s
en
tial
f
o
r
tr
ain
in
g
th
e
C
NN
ar
ch
itectu
r
e,
s
p
ec
if
ically
Mo
b
ileNet,
to
class
if
y
o
b
jects
in
to
two
d
is
tin
ct
ca
teg
o
r
ies:
b
ag
s
an
d
b
o
ttles
.
Pre
p
r
o
ce
s
s
in
g
s
tep
s
in
clu
d
e
n
o
r
m
aliza
tio
n
a
n
d
r
esizin
g
o
f
im
ag
es
to
a
s
tan
d
ar
d
ized
2
2
4
×
224
-
p
ix
el
f
o
r
m
at.
T
h
is
o
p
tim
izatio
n
en
s
u
r
es
th
e
d
ataset
i
s
s
u
itab
l
e
f
o
r
ef
f
ec
tiv
e
m
o
d
el
tr
ain
in
g
.
T
h
e
ch
o
s
en
C
NN
ar
ch
itectu
r
e
e
x
ce
ls
at
d
is
ce
r
n
in
g
p
atter
n
s
u
n
iq
u
e
to
b
o
ttles
an
d
b
ag
s
,
en
ab
lin
g
ac
cu
r
ate
r
ea
l
-
tim
e
p
r
ed
ictio
n
s
f
o
r
liv
e
i
n
p
u
t i
m
ag
es.
2
.
2
.
M
ec
ha
nica
l
des
ig
n o
f
t
he
ro
bo
t
ic
ha
nd
T
h
e
r
o
b
o
tic
ar
m
is
cr
af
ted
f
r
o
m
h
ig
h
-
q
u
ality
alu
m
in
u
m
s
h
ee
ts
o
f
2
m
m
an
d
4
m
m
th
ick
n
ess
,
p
r
o
ce
s
s
ed
th
r
o
u
g
h
laser
cu
ttin
g
,
an
d
d
esig
n
ed
u
s
in
g
So
lid
W
o
r
k
s
in
Fig
u
r
e
2
.
T
h
is
d
esig
n
p
r
o
m
is
es
a
d
y
n
am
ic
r
an
g
e
o
f
a
p
p
licatio
n
s
d
u
e
t
o
its
s
tr
u
ctu
r
al
in
teg
r
ity
an
d
p
r
ec
i
s
io
n
.
T
h
e
co
m
p
o
n
en
ts
u
n
d
er
g
o
weld
in
g
,
d
r
illi
n
g
,
an
d
lath
e
wo
r
k
to
en
s
u
r
e
r
o
b
u
s
t
co
n
s
tr
u
ctio
n
.
T
h
e
So
lid
W
o
r
k
s
3
D
m
o
d
el
s
er
v
es
as
a
b
l
u
ep
r
in
t
f
o
r
s
ea
m
less
co
m
p
o
n
en
t in
teg
r
atio
n
,
r
esu
lti
n
g
in
a
b
alan
ce
d
s
y
s
tem
wh
er
e
ea
ch
Do
F o
p
e
r
ates in
h
ar
m
o
n
y
.
T
h
e
g
r
ip
p
e
r
in
Fig
u
r
e
3
f
ea
tu
r
es f
iv
e
f
in
g
er
s
,
f
o
u
r
o
f
wh
ich
ar
e
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n
n
ec
ted
with
s
h
af
ts
.
Gea
r
s
ar
e
u
s
ed
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co
n
tr
o
l
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e
p
r
ec
is
e
an
d
s
y
n
ch
r
o
n
ized
m
o
v
em
en
t
o
f
t
h
e
f
i
n
g
er
s
,
en
h
a
n
cin
g
th
e
e
f
f
icien
c
y
o
f
th
e
g
r
ip
.
T
h
is
co
o
r
d
in
ate
d
d
esig
n
e
n
s
u
r
es sm
o
o
th
o
p
er
atio
n
a
n
d
im
p
r
o
v
es
th
e
o
v
er
all
p
er
f
o
r
m
an
ce
o
f
th
e
g
r
ip
p
er
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
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S
I
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J
R
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b
&
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u
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m
,
Vo
l
.
1
4
,
No
.
1
,
Ma
r
ch
20
2
5
:
1
1
-
1
8
14
Fig
u
r
e
2
.
R
o
b
o
tic
ar
m
d
esig
n
Fig
u
r
e
3
.
Gr
ip
p
er
d
esig
n
2
.
3
.
E
lect
ro
nic
des
ig
n o
f
t
he
ro
bo
t
ic
ha
nd
T
h
e
elec
tr
o
n
ic
d
esig
n
f
o
cu
s
e
s
o
n
th
e
co
n
tr
o
l
an
d
ac
tu
atio
n
o
f
th
e
r
o
b
o
tic
ar
m
.
MG
9
9
6
R
s
er
v
o
m
o
to
r
s
ar
e
s
elec
ted
b
ased
o
n
to
r
q
u
e
r
eq
u
ir
em
en
ts
.
T
h
e
to
r
q
u
e
ca
lcu
latio
n
is
g
iv
en
i
n
(
1
)
an
d
(
2
)
.
L
et
th
e
to
r
q
u
e
(
T
)
in
k
g
cm
,
f
o
r
ce
(
F)
in
N
ewto
n
,
an
d
d
is
tan
ce
(
D)
i
n
cm
.
L
et
weig
h
t
=
0
.
5
k
g
an
d
D
=
2
0
cm
.
=
∗
(
1
)
=
ℎ
∗
=
0
.
5
∗
20
=
10
/
(
2
)
T
h
e
s
elec
ted
MG
9
9
6
R
s
er
v
o
m
o
to
r
,
with
a
t
o
r
q
u
e
ca
p
ac
ity
o
f
1
1
k
g
/cm
,
ac
co
m
m
o
d
ates
th
e
p
lace
m
en
t
o
f
a
0
.
5
k
g
o
b
ject
at
a
d
is
tan
ce
o
f
2
0
cm
f
r
o
m
th
e
r
o
b
o
tic
ar
m
’
s
b
ase.
T
h
is
ch
o
ice
en
s
u
r
es
s
u
f
f
icien
t
to
r
q
u
e
f
o
r
th
e
s
p
ec
if
ied
lo
ad
an
d
d
is
tan
ce
r
eq
u
ir
em
en
ts
.
T
h
e
wo
r
k
f
lo
w
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
tem
is
p
r
esen
t
ed
in
th
is
s
ec
t
io
n
as
alg
o
r
ith
m
1
.
I
t
b
e
g
in
s
with
ca
p
tu
r
in
g
v
i
d
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ied
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ce
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b
ileNet
C
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tr
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t r
elev
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t
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r
e
s
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ef
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ith
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1
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o
b
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tr
o
l
while true do
ret, frame=cap.read()
if not then
PRINT
“
Failed to grab frame
”
BREAK
end if
predictions=model.predict(input_image)
predicted_class=int(predictions[0][0] > 0.5)
label=if predicted_class == 0 then
“
bottle
”
else
“
bag
”
end if
if predicted_class == 0 then
call bottle()
else
call bag()
end if
Fo
llo
win
g
o
b
ject
d
etec
tio
n
,
t
h
e
s
y
s
tem
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tili
ze
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e
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tifie
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o
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m
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(
e.
g
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,
“
B
o
ttle
”
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r
“
B
ag
”
)
to
tr
ig
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p
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if
ic
s
er
v
o
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tio
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s
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o
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g
r
ip
f
o
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m
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n
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s
cr
ip
t
ca
lls
co
r
r
esp
o
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d
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g
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u
n
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n
s
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eith
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ttle(
)
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r
b
a
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(
)
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to
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te
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elate
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ased
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th
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icati
o
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ce
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s
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ed
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o
n
tin
u
o
u
s
ly
u
p
d
atin
g
th
e
d
is
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lay
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id
e
o
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am
e
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th
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r
ed
icted
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d
r
esp
o
n
d
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g
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o
d
etec
ted
o
b
jects
in
r
ea
l
tim
e.
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h
e
c
o
m
p
r
eh
e
n
s
iv
e
ap
p
r
o
ac
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r
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teg
r
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ased
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g
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itio
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p
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o
v
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aid
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ased
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o
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ates
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ig
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p
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u
f
ac
tu
r
in
g
,
lo
g
is
tics
,
an
d
h
ea
lth
c
ar
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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Fig
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I
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