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During the orbit motion, the robot rotates slowly on its pedestal to provide a helical acquisition.
During drop-landing motion, the robot also transforms itself from a spherical shape into a legged robot while landing.
Once the user/demonstrator is content with the motion, the robot seeks and establishes contact with a given surface, maintaining a predefined force of contact through force feedback.
We can see that the robot having no problem interact with approach pedestrians under human density of 0.3 p e r s o n s/m 2. However, in high density environment, where the pedestrian are expected to come from many direction, the robot main priority is the avoid the collision (safety) therefore during the avoiding motion the robot have to skip the interaction with approach pedestrians.
In one swift motion, the robot must replace these delicious, yet belt-stretching morsels with a container of low-fat yogurt or a broccoli stalk.
This human-aware motion is depicted in the figure as a solid arrow, and the simple, shortest-path motion the robot would have otherwise taken is shown as a dashed arrow.
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Through these local motions, the robot can change the orientation of the end-effector, as required when performing certain tasks.
Paddle's motion enables the robot to climb the step.
Figure 13 An image of the motion of the robot during the experiments.
Figure 15 shows the snapshots of the motion of the robot in this experiment.
However, the passive wheels do have an effect on the motion of the robot itself.
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