Range of arm DoFs during avoidance and reaching.

Each of the 7 DoFs that belong to the left and right arms are depicted: 3 DoFs for the shoulder (s0, s1, s2), one elbow joint (e0) and three joints pertaining to the wrist (w0, w1, w2). For each joint, its minimum and maximum angles are shown, along with its range. Joints s2 and e0 of the left arm, as well as joint s2 of the right arm, reached their full physical limits during the experiments. Wrist joints did not contribute to either the avoidance or the reaching behaviors.