Fig. 7From: Robot body self-modeling algorithm: a collision-free motion planning approach for humanoidsPredicted joints angles profiles in comparison with experimental results. Exper is stand for experimental data. TMA, ATsum, Dqssum and TrqSum are predicted joint profile resulted in minimization of following objective functions respectively: F TMA , F ank , \(F_{\varDelta \theta }\) and F τ . The vertical axis is joints angles which are in degree and the horizontal axis shows the time sequencesBack to article page