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Table 4 Minimum distance (in [mm]) between the manipulator and the obstacles with (With OA) and without (Without OA) the Obstacle Avoidance (OA) part, for 1 Obs and 2 Obs case and 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
  Without OA With OA Without OA With OA
T.1 9.5 164 (9.5,129.5) (164,147)
T.2 18 86.5 (18,75) (170,92)
T.3 33.5 157 (33.5,121) (117.5,107.5)
T.4 48 88.5 (48,119.5) (88.5,122.5)