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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

  1 Obs 2 Obs
  Position Radius Position Radius
T.1 [-167 200 323] 90 [-167 200 323] 40
    [ -89 96 436] 40
T.2 [0 220 350] 50 [0 220 350] 50
    [70 170 135] 75
T.3 [313 480 321] 70 [313 480 321] 70
    [-2 311 353] 70
T.4 [-35 202 310] 40 [-35 202 310] 40
    [-168 158 322] 40
  1. These quantities are expressed in [mm]