Table 7:

Data Regarding Load and Geometry Characteristics

Load characteristics		Origin		Destination
N	Weight	Vertical Height Above Floor	Horizontal Distance	Vertical Height Above Floor	Horizontal Distance	No. of Potential Subtasks Derived
494	6 kg	8 levels from 14 to 84 cm	35, 45, and 55 cm	80 cm	30 cm	24
1,235	8 kg	4 levels from 80 to 110 cm	30 cm	8 levels from 14 to 84 cm	35, 45, and 55 cm	96
123	13 kg	2 levels, at 30 and 50 cm	45 cm	80 cm	30 cm	2