Figure 2.

Varying target planes and initial model positions to test the generalizability of synergy-based controllers. We tested the controllers in tasks with a high plane and low plane, with the same initial pose as in the nominal task. We also tested the controllers with varying initial poses, including with the arm raised, shoulder flexed, shoulder abducted and elbow flexed. For the varying initial poses, the targets were in the same plane as in the nominal pose.