Fig. 5From: Surmounting obstacles by arm maneuver for unmanned power shovelSequences in stage 2. The meanings of the symbols are as follows. \(xf_1\) is the final x coordinate of \(P_b\) after sequence 1; \(xf_{21}\) is the final x coordinate of \(P_b\) after sequence 2-1; \(xf_{22}\) is the final x coordinate of \(P_b\) after sequence 2–2Back to article page