@article{he2021bidirectional,
  title={Bidirectional Human--Robot Bimanual Handover of Big Planar Object With Vertical Posture},
  author={He, Wei and Li, Jiashu and Yan, Zichen and Chen, Fei},
  journal={IEEE Transactions on Automation Science and Engineering},
  volume={19},
  number={2},
  pages={1180--1191},
  year={2021},
  publisher={IEEE}
}