. Author manuscript; available in PMC: 2012 Jan 29.

Published in final edited form as: Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2010:893–899. doi: 10.1109/BIOROB.2010.5625965

TABLE I.

Performance of our approach on the three test cases.

Test Case	#Trials	% Successful runs	Avg. no. iterations	Avg. CPU time (secs)	Total CPU time (secs)
1	100	100	165 (± 118)	0.0021 (± 0.0017)	0.026
2	100	100	1202 (± 838)	0.0386 (± 0.0463)	0.483
3	100	100	435 (± 239)	0.0438 (± 0.0295)	0.548