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. Author manuscript; available in PMC: 2020 Jan 1.
Published in final edited form as: IEEE Robot Autom Lett. 2018 Nov 19;4(1):145–152. doi: 10.1109/LRA.2018.2881987

Fig. 4:

Fig. 4:

Comparisons between the simulated trajectories without initial deflection (blue), with initial deflection (red), and the experimental (yellow) trajectories. The trajectories are expressed in the surface coordinates.