236
Biologically Inspired Robotics
6000
5000
4000
3000
2000
1000
0
Small force
Large force
0
0.2
0.4
0.6
0.8
1
Time (s)
1st Moment
FIGURE 12.10
Spectral moment features based on STFT at different forces.
1500
Spectral Flatness
1000
500
0
Low velocity
High velocity
0
0.2
0.4
0.6
0.8
1
Time (s)
FIGURE 12.11
Spectral flatness features based on STFT at different speeds.