Table 2 Details on the obstacle location Position – with respect to the Inertial System of Reference placed as in Fig. 3 – and dimension Radius (expressed in terms of the center and the radius of a sphere surrounding the obstacle, respectively) considered during the simulations, for the one obstacle (1 Obs) and two obstacle (2 Obs) case, for the different tasks (T.1, T.2, T.3, T.4)

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