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Table 3 Average measured \(T_t\), \(T_{br}\) and \(T_r\) cycles in all implicit collaboration pairs for both the pestle and the kneading

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