Page 11 - Sensing, Intelligence, Motion : How Robots and Humans Move in an Unstructured World

x CONTENTS

6.2.5 Algorithm 301
6.2.6 Examples 304

6.3 Three-Link XXP Arm Manipulators 305
6.3.1 Robot Arm Representation Spaces 307
6.3.2 Monotonicity of Joint Space 312
6.3.3 Connectivity of J f 313
6.3.4 Retraction of J f 317
6.3.5 Configuration Space and Its Retract 318
6.3.6 Connectivity Graph 321
6.3.7 Lifting 2D Algorithms into 3D 325
6.3.8 Step Planning 326
6.3.9 Discussion 327
6.4 Other XXX Arms 327

7 Human Performance in Motion Planning 329
7.1 Introduction 329
7.2 Preliminary Observations 332
7.2.1 Moving in a Maze 332
7.2.2 Moving an Arm Manipulator 339
7.2.3 Conclusions and Plan for Experiment Design 345

7.3 Experiment Design 349
7.3.1 The Setup 349
7.3.2 Test Protocol 352
7.4 Results—Experiment One 353
7.4.1 Principal Components Analysis 355
7.4.2 Nonparametric Statistics 358
7.4.3 Univariate Analysis of Variance 362
7.4.4 Two-Way Analysis of Variance 365
7.4.5 Implementation: Two-Way Analysis for Path Length 367
7.4.6 Implementation: Two-Way Analysis for Completion
Time 369
7.5 Results—Experiment Two 371
7.5.1 The Technique 372
7.5.2 Implementation Scheme 375
7.5.3 Results and Interpretation 377
7.6 Discussion 381