Utilize the acceleration phase during handover actions to detect whether the manipulated object is soft/heavy/fragile/risky
- Eigen vectors in the acceleration phase
Check that it is solved: I have to find a way to get the data to match the eigen vectors. Perhaps smoothing, or time intervals
Khansari SEDS_lib (so far TODO: remove dependency -> DONE - need to update)
Successfully trained and tested on:
- Mathworks MATLAB 2018a
Run a minimal example in a Matlab interpreter like OCTAVE or MATLAB:
RUNME
To run all tests use:
TODO
To run demos use:
TODO
- Duarte, N. F., Billard, A., & Santos-Victor, J. (2022). The Role of Object Physical Properties in Human Handover Actions: Applications in Robotics. IEEE Transactions on Cognitive and Developmental Systems.
Deceleration phase Approach (GitHub repository)