Fig. 9From: Exploiting upper-limb functional principal components for human-like motion generation of anthropomorphic robotsFrom top to bottom, the reconstruction for task 4 is reported for the free motion case, the single obstacle avoidance and the double obstacle avoidance case respectively. For each row, motion execution is intended from left to right and time-frames are evenly spaced. Reference system at wrist level is finally plotted along the whole trajectoryBack to article page