Scientific publications

We publish results of our work in scientific journals and make presentations at research conferences with topics ranging from neurophysiology, robotics, and machine learning.

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2021

Predictive Exoskeleton Control for Arm-Motion Augmentation Based on Probabilistic Movement Primitives Combined With a Flow Controller

Jamšek, Marko; Kunavar, Tjaša; Bobek, Urban; Rueckert, Elmar; Babič, Jan

Predictive Exoskeleton Control for Arm-Motion Augmentation Based on Probabilistic Movement Primitives Combined With a Flow Controller Journal Article

In: IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 4417–4424, 2021, ISSN: 2377-3766.

Abstract | BibTeX | Tags: Exoskeleton Design and Control, Force Control, Human Performance Augmentation, Optimal Control, Physical Human Robot Interaction | Links:

2019

Closed-loop Force Control of a Pneumatic Gripper Actuated by Two Pressure Regulators

Romeo, Rocco A; Fiorio, Luca; Avila-Mireles, Edwin Johnatan; Cannella, Ferdinando; Metta, Giorgio; Pucci, Daniele

Closed-loop Force Control of a Pneumatic Gripper Actuated by Two Pressure Regulators Journal Article

In: IEEE International Conference on Intelligent Robots and Systems, pp. 7157-7162, 2019, ISSN: 21530866.

Abstract | BibTeX | Tags: Force Control | Links:

2018

Robotic assembly solution by human-in-the-loop teaching method based on real-time stiffness modulation

Peternel, Luka; Petrič, Tadej; Babič, Jan

Robotic assembly solution by human-in-the-loop teaching method based on real-time stiffness modulation Journal Article

In: Autonomous Robots, vol. 42, no. 1, pp. 1–17, 2018, ISSN: 0929-5593.

Abstract | BibTeX | Tags: Compliance and Impedance Control, Force Control, Human-in-the-Loop Control | Links:

2016

Augmentation of human arm motor control by isotropic force manipulability

Petrič, Tadej; Goljat, Rok; Babič, Jan

Augmentation of human arm motor control by isotropic force manipulability Inproceedings

In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 696–701, IEEE, Daejeon, 2016, ISBN: 978-1-5090-3762-9.

Abstract | BibTeX | Tags: Force Control, Human Performance Augmentation, Neuromusculoskeletal Modelling | Links:

Special issue on whole-body control of contacts and dynamics for humanoid robots

Ivaldi, Serena; Babič, Jan; Mistry, Michael; Murphy, Robin

Special issue on whole-body control of contacts and dynamics for humanoid robots Journal Article

In: Autonomous Robots, vol. 40, no. 3, pp. 425–428, 2016, ISSN: 0929-5593.

BibTeX | Tags: Compliance and Impedance Control, Dynamic Motion, Force Control | Links:

Adaptation and coaching of periodic motion primitives through physical and visual interaction

Gams, Andrej; Petrič, Tadej; Do, Martin; Nemec, Bojan; Morimoto, Jun; Asfour, Tamim; Ude, Aleš

Adaptation and coaching of periodic motion primitives through physical and visual interaction Journal Article

In: Robotics and Autonomous Systems, vol. 75, pp. 340–351, 2016, ISSN: 09218890.

Abstract | BibTeX | Tags: Dynamic Motion, Force Control | Links:

2015

Force adaptation with recursive regression Iterative Learning Controller

Nemec, Bojan; Petrič, Tadej; Ude, Aleš

Force adaptation with recursive regression Iterative Learning Controller Inproceedings

In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2835–2841, IEEE, Hamburg, 2015, ISBN: 978-1-4799-9994-1.

Abstract | BibTeX | Tags: Force Control, Machine Learning | Links:

2014

Learning and adaptation of periodic motion primitives based on force feedback and human coaching interaction

Gams, Andrej; Petrič, Tadej; Nemec, Bojan; Ude, Aleš

Learning and adaptation of periodic motion primitives based on force feedback and human coaching interaction Inproceedings

In: 2014 IEEE-RAS International Conference on Humanoid Robots, pp. 166–171, IEEE, Madrid, 2014, ISBN: 978-1-4799-7174-9.

Abstract | BibTeX | Tags: Force Control, Human-in-the-Loop Control, Machine Learning | Links: