From: Analysis of implicit robot control methods for joint task execution
kneading | pestle | |||||||
---|---|---|---|---|---|---|---|---|
\(T_t\) (s) | \(T_{br}\) (s) | \(T_r\) (s) | Standard Deviation | \(T_t\)(s) | \(T_{br}\) (s) | \(T_r\) (s) | Standard Deviation | |
Pair 1 | 0.7376 | 0.6095 | 0.7814 | 0.0066 | 0.7294 | 0.6025 | 0.8909 | 0.0030 |
Pair 2 | 0.7524 | 0.681 | 0.7932 | 0.061 | 0.7520 | 0.6200 | 0.7594 | 0.0062 |
Pair 3 | 0.7085 | 0.5699 | 0.7679 | 0.0045 | 0.7213 | 0.5638 | 0.8946 | 0.0020 |
Pair 4 | 0.7353 | 0.6883 | 0.7887 | 0.0020 | 0.7331 | 0.6855 | 0.8504 | 0.0047 |
Pair 5 | 0.7382 | 0.6158 | 0.7561 | 0.0053 | 0.7500 | 0.6438 | 0.7723 | 0.0048 |
Pair 6 | 0.6458 | 0.6364 | 0.6859 | 0.0066 | 0.6571 | 0.6480 | 0.6774 | 0.0048 |
Pair 7 | 0.7891 | 0.6583 | 0.8023 | 0.0035 | 0.8026 | 0.6638 | 0.8601 | 0.0027 |
Pair 8 | 0.7237 | 0.6008 | 0.7239 | 0.0026 | 0.7120 | 0.6076 | 0.7553 | 0.0067 |
Pair 9 | 0.6590 | 0.6296 | 0.6611 | 0.0022 | 0.6619 | 0.6237 | 0.6855 | 0.0062 |
Pair 10 | 0.7224 | 0.7032 | 0.8217 | 0.0026 | 0.7153 | 0.6906 | 0.9001 | 0.0028 |
Pair 11 | 0.5928 | 0.5744 | 0.6072 | 0.0062 | 0.5997 | 0.5808 | 0.7391 | 0.0068 |
Pair 12 | 0.6418 | 0.6239 | 0.6617 | 0.0051 | 0.6371 | 0.6180 | 0.7210 | 0.0055 |
Pair 13 | 0.7249 | 0.6110 | 0.7447 | 0.0054 | 0.7367 | 0.6004 | 0.7652 | 0.0034 |
Pair 14 | 0.6625 | 0.6370 | 0.6636 | 0.0043 | 0.6758 | 0.6382 | 0.7151 | 0.0045 |
Pair 15 | 0.6151 | 0.5912 | 0.7066 | 0.0060 | 0.6053 | 0.5564 | 0.8322 | 0.0056 |
Pair 16 | 0.7715 | 0.6781 | 0.7891 | 0.0032 | 0.7670 | 0.6893 | 1.0685 | 0.0024 |
Pair 17 | 0.7563 | 0.6171 | 0.7787 | 0.0028 | 0.7600 | 0.7384 | 0.8339 | 0.0015 |
Pair 18 | 0.8527 | 0.6223 | 0.9136 | 0.0035 | 0.8609 | 0.6212 | 1.0610 | 0.0058 |
Pair 19 | 0.7816 | 0.5130 | 0.8963 | 0.0023 | 0.7924 | 0.5057 | 1.0160 | 0.0044 |
Pair 20 | 0.6370 | 0.6062 | 0.6723 | 0.0052 | 0.6123 | 0.6044 | 0.6606 | 0.0047 |
Pair 21 | 0.7197 | 0.6177 | 0.7606 | 0.0027 | 0.7572 | 0.6283 | 0.7997 | 0.0047 |
Pair 22 | 0.6928 | 0.6895 | 0.7228 | 0.0027 | 0.7357 | 0.6939 | 0.7525 | 0.0065 |
Pair 23 | 0.5986 | 0.5922 | 0.6288 | 0.0033 | 0.5925 | 0.5787 | 0.6320 | 0.0053 |
Pair 24 | 0.6168 | 0.6091 | 0.6401 | 0.0023 | 0.6157 | 0.5942 | 0.7119 | 0.0019 |
Pair 25 | 0.7600 | 0.6692 | 0.9745 | 0.0063 | 0.7728 | 0.6742 | 1.1779 | 0.0060 |
kneading | pestle | |||||||
---|---|---|---|---|---|---|---|---|
\(T_t\) (s) | \(T_{br}\) (s) | \(T_r\) (s) | Standard Deviation | \(T_t\)(s) | \(T_{br}\) (s) | \(T_r\) (s) | Standard Deviation | |
Pair 26 | 0.6422 | 0.6257 | 0.6586 | 0.0028 | 0.6519 | 0.6276 | 0.6700 | 0.0063 |
Pair 27 | 0.7731 | 0.6453 | 0.7870 | 0.0063 | 0.7589 | 0.6344 | 0.8751 | 0.0031 |
Pair 28 | 0.6907 | 0.6534 | 0.7964 | 0.0037 | 0.6906 | 0.6464 | 0.8573 | 0.0039 |
Pair 29 | 0.6916 | 0.6063 | 0.7305 | 0.0060 | 0.7054 | 0.6009 | 0.9063 | 0.0014 |
Pair 30 | 0.8105 | 0.7331 | 0.8328 | 0.0056 | 0.8556 | 0.7309 | 0.8816 | 0.0018 |
Pair 31 | 0.5363 | 0.5235 | 0.6507 | 0.0027 | 0.5494 | 0.5424 | 0.8425 | 0.0023 |
Pair 32 | 0.8413 | 0.6984 | 0.8875 | 0.0065 | 0.8498 | 0.6984 | 0.9582 | 0.0040 |
Pair 33 | 0.7106 | 0.6965 | 0.7126 | 0.0070 | 0.7206 | 0.7085 | 0.7637 | 0.0038 |
Pair 34 | 0.7299 | 0.6030 | 0.7398 | 0.0050 | 0.7180 | 0.6600 | 0.7472 | 0.0033 |
Pair 35 | 0.7980 | 0.6441 | 0.8513 | 0.0049 | 0.7961 | 0.6530 | 0.9244 | 0.0024 |
Pair 36 | 0.8241 | 0.6126 | 0.8491 | 0.0052 | 0.8341 | 6220 | 0.8596 | 0.0033 |
Pair 37 | 06808 | 0.5655 | 0.7209 | 0.0044 | 0.6875 | 0.5554 | 0.8082 | 0.0044 |
Pair 38 | 0.8060 | 0.7206 | 0.8525 | 0.0034 | 0.8528 | 0.7148 | 0.8708 | 0.0055 |
Pair 39 | 0.8068 | 0.5903 | 0.9504 | 0.0035 | 0.9093 | 0.6941 | 0.9523 | 0.0068 |
Pair 40 | 0.6923 | 0.6523 | 0.7151 | 0.0022 | 0.6974 | 0.6383 | 0.7684 | 0.0044 |
Pair 41 | 0.6764 | 0.6111 | 0.8531 | 0.0027 | 0.6615 | 0.6150 | 0.9167 | 0.0032 |
Pair 42 | 0.7181 | 0.6319 | 0.7702 | 0.0033 | 0.7177 | 0.6211 | 0.8204 | 0.0035 |
Pair 43 | 0.6731 | 0.6052 | 0.6950 | 0.0039 | 0.6635 | 0.6271 | 0.6984 | 0.0029 |
Pair 44 | 0.7236 | 0.6826 | 0.7323 | 0.0062 | 0.7132 | 0.6155 | 0.8273 | 0.0017 |
Pair 45 | 0.8747 | 0.5991 | 0.8969 | 0.0029 | 0.8796 | 0.5981 | 1.0798 | 0.0026 |
Pair 46 | 0.7890 | 0.6093 | 0.8020 | 0.0034 | 0.7915 | 0.6054 | 0.8989 | 0.0022 |
Pair 47 | 0.7636 | 0.5957 | 0.7664 | 0.0046 | 0.7635 | 0.5958 | 0.8462 | 0.0068 |
Pair 48 | 0.9204 | 0.7108 | 0.9321 | 0.0058 | 0.9362 | 0.7293 | 0.9508 | 0.0064 |
Pair 49 | 0.7523 | 0.6559 | 0.7767 | 0.0041 | 0.7666 | 0.6621 | 0.8328 | 0.0036 |
Pair 50 | 0.8472 | 0.6374 | 0.9548 | 0.0066 | 0.8371 | 0.6391 | 1.0076 | 0.0028 |
kneading | pestle | |||||||
---|---|---|---|---|---|---|---|---|
\(T_t\) (s) | \(T_{br}\) (s) | \(T_r\) (s) | Standard Deviation | \(T_t\)(s) | \(T_{br}\) (s) | \(T_r\) (s) | Standard Deviation | |
Pair 51 | 0.7092 | 0.6978 | 0.7199 | 0.0063 | 0.7278 | 0.7074 | 0.7698 | 0.0057 |
Pair 52 | 0.6024 | 0.4887 | 0.7065 | 0.0031 | 0.6169 | 0.4877 | 0.8537 | 0.0016 |
Pair 53 | 0.5972 | 0.4794 | 0.8091 | 0.0021 | 0.5840 | 0.4701 | 0.8855 | 0.0016 |
Pair 54 | 0.8170 | 0.6047 | 0.8289 | 0.0059 | 0.8440 | 0.6395 | 0.8637 | 0.0066 |
Pair 55 | 0.6999 | 0.5810 | 0.7805 | 0.0028 | 0.7100 | 0.6679 | 0.9439 | 0.0060 |
Pair 56 | 0.7058 | 0.6334 | 0.7556 | 0.0045 | 0.7532 | 0.6379 | 0.7834 | 0.0013 |
Pair 57 | 0.7249 | 0.6042 | 0.7283 | 0.0032 | 0.7340 | 0.6038 | 0.7808 | 0.0054 |
Pair 58 | 0.8436 | 0.7527 | 0.8751 | 0.0062 | 0.8305 | 0.7391 | 0.9343 | 0.0033 |
Pair 59 | 0.7898 | 0.6796 | 0.8686 | 0.0063 | 0.7937 | 0.6717 | 0.9286 | 0.0027 |
Pair 60 | 0.6719 | 0.6648 | 0.7323 | 0.0031 | 0.6847 | 0.6725 | 0.9894 | 0.0028 |
Pair 61 | 0.7183 | 0.7009 | 0.8217 | 0.0041 | 0.7228 | 0.7031 | 1.0099 | 0.0067 |
Pair 62 | 0.7993 | 0.6845 | 0.9361 | 0.0054 | 0.8110 | 0.6713 | 1.0430 | 0.0028 |
Pair 63 | 0.7785 | 0.6782 | 0.7852 | 0.0044 | 0.7869 | 0.6877 | 0.8010 | 0.0066 |
Pair 64 | 0.6984 | 0.5349 | 0.7505 | 0.0068 | 0.6911 | 0.5362 | 0.8020 | 0.0030 |
Pair 65 | 0.7787 | 0.6520 | 0.8363 | 0.0032 | 0.7766 | 0.6721 | 0.9060 | 0.0030 |
Pair 66 | 0.8196 | 0.7834 | 0.8691 | 0.0044 | 0.8072 | 0.7718 | 0.9527 | 0.0024 |
Pair 67 | 0.7770 | 0.6645 | 0.7984 | 0.0059 | 0.7877 | 0.6528 | 0.8697 | 0.0023 |
Pair 68 | 0.8582 | 0.6467 | 0.8749 | 0.0031 | 0.8737 | 0.6523 | 0.9230 | 0.0042 |
Pair 69 | 0.6729 | 0.4736 | 0.6744 | 0.0033 | 0.6615 | 0.4849 | 0.7316 | 0.0041 |
Pair 70 | 0.7409 | 0.5356 | 0.8065 | 0.0051 | 0.8305 | 0.5384 | 0.8527 | 0.0029 |
Pair 71 | 0.7675 | 0.6203 | 0.8080 | 0.0063 | 0.7812 | 0.6521 | 0.9004 | 0.0053 |
Pair 72 | 0.7499 | 0.6013 | 0.7718 | 0.0064 | 0.7615 | 0.6129 | 0.8200 | 0.0048 |
Pair 73 | 0.7618 | 0.6179 | 0.7730 | 0.0053 | 0.7605 | 0.6267 | 0.8745 | 0.0063 |
Pair 74 | 0.7153 | 0.6003 | 0.7342 | 0.0064 | 0.7105 | 0.6004 | 0.8521 | 0.0063 |
Pair 75 | 0.8052 | 0.6549 | 0.8412 | 0.0027 | 0.8446 | 0.6564 | 0.8733 | 0.0034 |
Pair 76 | 0.6573 | 0.4403 | 0.7135 | 0.0054 | 0.7177 | 0.5272 | 0.7465 | 0.0055 |
Pair 77 | 0.5310 | 0.4682 | 0.5720 | 0.0061 | 0.5335 | 0.4793 | 0.6723 | 0.0025 |
Average | 0.7299 | 0.6238 | 0.7768 | 0.7389 | 0.6303 | 0.8501 | ||
St.Dev. | 0.0779 | 0.0644 | 0.0848 | 0.0840 | 0.0632 | 0.1089 |