Vibration Suppression in Robotic Polishing Task Data

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.[arXiv]A video of the experiment footage and the paper summary can be found here.The data contains the control and motion variables logged during execution, as mat files. Folder structureThe folders under data: drill080, drill100 and drill120 contain the parameter selection and comparison experiment logs for each drill mode.data/params contains example parameter values for required to run some scripts.The scripts folder contains the Matlab scripts for reading and analysing the files.scripts/bmflc contains the example implementations of the methods described in the paper.├── data│ ├── drill080│ │ ├── parameter_selection│ │ │ ├── damped│ │ │ └── original│ │ └── stepsize_comparison│ │ ├── damped│ │ ├── none│ │ └── original│ ├── drill100│ │ ├── parameter_selection│ │ │ ├── damped│ │ │ └── original│ │ └── stepsize_comparison│ │ ├── damped│ │ ├── none│ │ └── original│ ├── drill120│ │ ├── parameter_selection│ │ │ ├── damped│ │ │ └── original│ │ └── stepsize_comparison│ │ ├── damped│ │ ├── none│ │ └── original│ └── params└── scripts ├── bmflc └── utilsRunningIn Matlab, - change directory to the top folder and add all subfolders to path.- run the script analyze_results.m. It will create the real-world experiment figures from the paper.- bmflc_time_analysis.m runs the step-size timing benchmark and creates Figure 6.- plot_logistic_param_effects.m visualizes the logistic step-size by creating Figure 3.