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Keywords: service robot, environmental support, artificial landmark, mark recognition

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Fig. 1 Environment with mark  Fig.2 View of mark
 

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(a)Mark disposition for self-positioning  (b)Mark disposition for Manipulation  (c)Self-positioning 
    
(d) Pose measurement of the object  (e) Reading the memory  (f) Task realization 
Fig. 3 An example of task realization

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(a) insert the end-effecter in the handle  (b) open the sliding door 
Fig.4 Experimental results