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. Author manuscript; available in PMC: 2020 Apr 1.
Published in final edited form as: IEEE Robot Autom Lett. 2019 Jan 30;4(2):1424–1430. doi: 10.1109/LRA.2019.2896451

fig. 7.

fig. 7.

Experiments conducted on the MINIR-II robot segment: (a) angular cycles for T3, (b) polynomial fit for a first half of a chosen cycle, (c) response of the sensor module for small continuous angular loops, and (d) angular cycles for T1.