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. Author manuscript; available in PMC: 2023 Oct 31.
Published in final edited form as: IEEE Robot Autom Lett. 2022 Oct 31;7(4):12475–12482. doi: 10.1109/lra.2022.3218183

Fig. 5.

Fig. 5.

Self-normal-positioning experiment. a) Testing self-normal-positioning on a flat surface. Readers may refer to the downloadable supplementary material for the complete experiment video b) The recorded normal positioning error on the flat surface over time. c) Testing self-normal-positioning on a mannequin surface. d) The normal positioning error recorded at 12 targets on the mannequin.