End-effector extremes in operational space during avoidance and reaching.

For both the left and right end-effectors, the minimum and maximum values reached in the x−, y− and z− axis are shown, along with its range of operation. For safety reasons, the operational space of the robot was constrained within a sphere centered in the resting position (set to [−0.30, −0.20, +0.05] m for the left arm and [−0.30, +0.20, +0.05] m for the right arm—in iCub Root FoR) and with radius equal to 0.2 m. Please refer to S1 Fig for a depiction of the robot’s kinematics during the avoidance and reaching scenario.