Is the Human Being Careful or Not?

Robot Controller that classifies human manipulation of objects as either careful or not careful and reacts appropriately.

Classifying object manipulation as Careful or Not Careful from human motion.

We present two approaches for careful dectection: Acceleration Method & Deceleration Method. The differences are explained in the paper.

SDK:

• Simulation Data on MATLAB
• Real Experiments on Python & ROS

Dependencies

• Khansari/SEDS/SEDS_lib link
• Khansari/SEDS/GMR_lib
• Datasets (EPFL|IST|QMUL) (per request)
• ROS
• ROS kinova (kortex_ros)

Instructions

demo for acceleration method

demo_acceleration

demo for deceleration method

demo_deceleration

To run the scripts to compute the accuracy for the datasets

run_script_accel | run_script_decel

Citation

If you find this code useful in your research, please consider citing the Journal paper:

@ARTICLE{9951394,
  author={Duarte, Nuno F. and Billard, Aude and Santos-Victor, José},
  journal={IEEE Transactions on Cognitive and Developmental Systems}, 
  title={The Role of Object Physical Properties in Human Handover Actions: Applications in Robotics}, 
  year={2022},
  volume={},
  number={},
  pages={1-1},
  doi={10.1109/TCDS.2022.3222088}
  }

or the Conference paper:

@INPROCEEDINGS{9278084,
  author={Duarte, Nuno Ferreira and Chatzilygeroudis, Konstantinos and Santos-Victor, José and Billard, Aude},
  booktitle={2020 Joint IEEE 10th International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob)}, 
  title={From human action understanding to robot action execution: how the physical properties of handled objects modulate non-verbal cues}, 
  year={2020},
  volume={},
  number={},
  pages={1-6},
  doi={10.1109/ICDL-EpiRob48136.2020.9278084}
  }

Contributing

Nuno Ferreira Duarte

License

MIT © Nuno Duarte