Vibration Suppression in Robotic Polishing Task Data

<pre>This dataset contains the real-world robotic polishing experiments done for the paper titled "Online Learning for Vibration Suppression in Physical Robot Interaction using Power Tools" by Gokhan Solak and Arash Ajoudani.<br>[arXiv]<br><br>A video of the experiment footage and the paper summary can be found here.<br><br>The data contains the control and motion variables logged during execution, as <i>mat</i> files. <br><br><b>Folder structure</b><br><br>The folders under <i>data</i>: <i>drill080</i>, <i>drill100</i> and <i>drill120</i> contain the parameter selection and comparison experiment logs for each drill mode. The <i>scripts </i>folder contains the Matlab scripts for reading and analysing the files.<br><br>├── data<br>│ ├── drill080<br>│ │ ├── parameter_selection<br>│ │ │ ├── damped<br>│ │ │ └── original<br>│ │ └── stepsize_comparison<br>│ │ ├── damped<br>│ │ ├── none<br>│ │ └── original<br>│ ├── drill100<br>│ │ ├── parameter_selection<br>│ │ │ ├── damped<br>│ │ │ └── original<br>│ │ └── stepsize_comparison<br>│ │ ├── damped<br>│ │ ├── none<br>│ │ └── original<br>│ └── drill120<br>│ ├── parameter_selection<br>│ │ ├── damped<br>│ │ └── original<br>│ └── stepsize_comparison<br>│ ├── damped<br>│ ├── none<br>│ └── original<br>└── scripts<br> └── utils<br><br><b>Running</b><br><br>In Matlab, <br>- change directory to the top folder and add all subfolders to path.<br>- run the script <i>analyze_results.m</i>. It will create the figures of the paper.</pre>