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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)