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Table 1 Average execution time of the experiments [s]

From: Human-based framework for the assembly of elastic objects by a dual-arm robot

Segment number

Proposed method

Human direct

1

1.18

1.53

2

1.94

2.48

3

1.27

2.84

4

2.05

5

1.30

1.74

6

2.79

3.16

7

3.26

6.18

8

3.11

9

3.70

4.25

10

3.67

3.63

11

5.18

5.58

12

1.45

2.90

13

1.37

2.01

Total

32.29

36.32