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Table 1 Initial (q0) and final (qfin) configurations for the four tasks considered

From: Exploiting upper-limb functional principal components for human-like motion generation of anthropomorphic robots

Task dof 1 dof 2 dof 3 dof 4 dof 5 dof 6 dof 7
T.1 q0 −0.31 −0.58 −0.8 0.47 −1.23 0.22 0.65
  qfin −0.33 0.34 −0.39 0.44 −0.69 0.36 0.15
T.2 q0 0.09 −0.79 −0.62 0.65 −1.50 0.06 0.76
  qfin 0.65 −0.40 0.07 0.79 −1.32 0.87 0.63
T.3 q0 −0.48 −0.07 −0.71 0.03 −0.86 0.52 0.47
  qfin −1.67 −0.68 −0.33 −0.21 −0.09 −0.26 0.52
T.4 q0 −0.28 −0.86 −0.92 0.86 −1.52 −0.12 0.77
  qfin 0.65 −0.78 −0.12 2.18 −1.52 0.57 0.59
  1. Angles are expressed in radians