Figure 4-18. Sometimes, as in the top panel, no cans are perceived.
Other times, although there are no cans in the scene, the robot is attracted
to
some similar feature.
4.4 Experiments
109
Figure
4-19. The
robot
is
able
to
center cans (circles) with respect
to the
arm's effective workspace (rectangle).
The
lines show
the
apparent paths,
relative
to the
arm's frame
of
reference, taken
by
several cans during
the
centering
process.
the arm. The circles in figure 4-19 show the final location of the
can while
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