{"references": ["K.Kameyama, Y.Umeda and Y.Hashimoto, \"Simulation and Experiment\nStudy for Navigation of the Small Autonomous Weeding Robot in Paddy\nField\", Proceedings of the SICE Annual Conference 2013, pp.1612-1617,\n2013", "T.Bakker, K.Asselt van, J.Bontsema, J.Muller and G.Straten van,\n\"Systematic Design of an Autonomous Platform for Robotic Weeding\",\nJournal of Terramechanics, Vol.47, pp.63-73, 2010", "J.Blasco, N.Aleixos, J.M.Roger, G.Rabatel and E.Molto, \"Robotic Weed\nControl Using Machine Vision\", Biosystems Engineering, Vol.83, No.2,\npp.149-157, 2002", "B.Chen, S.Tojo and K.Watanabe, \"Machine Vision for a Micro Weeding\nRobot in a Paddy Field\", Biosystems Engineering, Vol.85, No.4,\npp.393-404, 2003", "N.D.Tillett, T.Hague, A.C.Grundy and A.P.Dedousis, \"Mechanical\nWithin-row Weed Control for Transplanted Crops Using Computer\nVision\", Biosystems Engineering, Vol.99, pp.171-178, 2008", "T.Mitsui, K.Tabata, K.Fujii, T.Yokoyama, Y.Endo, J.Suyama and\nK.Kuzuya, \"Development of a SmallWeeding Robot \"AIGAMO\nROBOT\" for Paddy Fields - Development of an Autonomous Moving\nRobot (4th Report) \", Research Report of The Gifu Prefectural Research\nInstitute for Information Technology, pp.11-12, 2013", "M.Nakayama, Y.Yamada and T.Uejima, \"Autonomous Navigation of a\nPaddy Field Robot Using Image Sensor and Hybrid Control\",\nProceedings of the SICE Annual Conference 2013, pp.1623-1628, 2013", "K.-H.Lee and R.Ehsani, \"Comparison of two 2D laser scanners for\nsensing object distances, shapes and surface patterns\", Computers and Electronics in Agriculture, No.60, pp.250-262, 2008", "Ronald C. Arkin, Behavior-Based Robotics, The MIT Press, 1998"]}

Weed suppression and weeding are necessary measures for rice cultivation. Weed suppression precedes the process of weeding. It means suppressing the growth of young weeds and creating a weed-less environment. If we suppress the growth of weeds, we can reduce the number of weeds in a paddy field. This would result in a reduction of the weeding work load. In this paper, we will show how we developed a weed suppression robot for the purpose of reducing the weeding work load. The robot has a laser range finder for autonomous mobility and a robot arm for weed suppression. It travels along the rice rows without stepping on and injuring the rice plants in a paddy field. The robot arm applies force to the weed seedlings and thereby suppresses the growth of weeds. This paper will explain the methodology of the autonomous mobile, the experiment in weed suppression, and the method of controlling the robot’s posture on uneven ground.