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

A Human-Robot Collaboration Framework for Improving Ergonomics During Dexterous Operation of Power Tools

Kim, Wansoo; Peternel, Luka; Lorenzini, Marta; Babič, Jan; Ajoudani, Arash

A Human-Robot Collaboration Framework for Improving Ergonomics During Dexterous Operation of Power Tools Journal Article

In: Robotics and Computer-Integrated Manufacturing, vol. 68, pp. 102084, 2021, ISSN: 07365845.

Abstract | BibTeX | Tags: Ergonomy, Human Performance Augmentation, Human-in-the-Loop Control, Physical Human Robot Interaction | Links:

2020

Telexistence and Teleoperation for Walking Humanoid Robots

Elobaid, Mohamed; Hu, Yue; Romualdi, Giulio; Dafarra, Stefano; Babič, Jan; Pucci, Daniele

Telexistence and Teleoperation for Walking Humanoid Robots Incollection

In: Advances in Intelligent Systems and Computing, pp. 1106–1121, 2020, ISSN: 21945365.

Abstract | BibTeX | Tags: Human-in-the-Loop Control, Physical Human Robot Interaction | Links:

2018

Human-In-The-Loop Control and Task Learning for Pneumatically Actuated Muscle Based Robots

Teramae, Tatsuya; Ishihara, Koji; Babič, Jan; Morimoto, Jun; Oztop, Erhan

Human-In-The-Loop Control and Task Learning for Pneumatically Actuated Muscle Based Robots Journal Article

In: Frontiers in Neurorobotics, vol. 12, pp. 71, 2018, ISSN: 1662-5218.

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

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

A shared control method for online human-in-the-loop robot learning based on Locally Weighted Regression

Peternel, Luka; Oztop, Erhan; Babič, Jan

A shared control method for online human-in-the-loop robot learning based on Locally Weighted Regression Inproceedings

In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3900–3906, IEEE, Daejeon, 2016, ISBN: 978-1-5090-3762-9.

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

2015

Human-in-the-loop approach for teaching robot assembly tasks using impedance control interface

Peternel, Luka; Petrič, Tadej; Babič, Jan

Human-in-the-loop approach for teaching robot assembly tasks using impedance control interface Inproceedings

In: 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 1497–1502, IEEE, Seattle, 2015, ISSN: 10504729.

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

2014

Switchable task-priority framework for combining human-demonstrated and inverse kinematics tasks

Peternel, Luka; Babič, Jan

Switchable task-priority framework for combining human-demonstrated and inverse kinematics tasks Inproceedings

In: 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014), pp. 542–547, IEEE, Bali, 2014, ISBN: 978-1-4799-7397-2.

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

Teaching robots to cooperate with humans in dynamic manipulation tasks based on multi-modal human-in-the-loop approach

Peternel, Luka; Petrič, Tadej; Oztop, Erhan; Babič, Jan

Teaching robots to cooperate with humans in dynamic manipulation tasks based on multi-modal human-in-the-loop approach Journal Article

In: Autonomous Robots, vol. 36, no. 1-2, pp. 123–136, 2014, ISSN: 0929-5593.

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

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:

Online approach for altering robot behaviors based on human in the loop coaching gestures

Petrič, Tadej; Gams, Andrej; Žlajpah, Leon; Ude, Aleš; Morimoto, Jun

Online approach for altering robot behaviors based on human in the loop coaching gestures Inproceedings

In: 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 4770–4776, IEEE, Hong Kong, 2014, ISSN: 10504729.

Abstract | BibTeX | Tags: Human-in-the-Loop Control, Optimal Control | Links:

2013

Learning of compliant human–robot interaction using full-body haptic interface

Peternel, Luka; Babič, Jan

Learning of compliant human–robot interaction using full-body haptic interface Journal Article

In: Advanced Robotics, vol. 27, no. 13, pp. 1003–1012, 2013, ISSN: 0169-1864.

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

Reflexive stability control framework for humanoid robots

Petrič, Tadej; Gams, Andrej; Babič, Jan; Žlajpah, Leon

Reflexive stability control framework for humanoid robots Journal Article

In: Autonomous Robots, vol. 34, no. 4, pp. 347–361, 2013, ISSN: 0929-5593.

Abstract | BibTeX | Tags: Dynamic Motion, Human-in-the-Loop Control, Postural Balance | Links:

Humanoid robot posture-control learning in real-time based on human sensorimotor learning ability

Peternel, Luka; Babič, Jan

Humanoid robot posture-control learning in real-time based on human sensorimotor learning ability Inproceedings

In: 2013 IEEE International Conference on Robotics and Automation, pp. 5329–5334, IEEE, Karlsruhe, 2013, ISBN: 978-1-4673-5643-5.

Abstract | BibTeX | Tags: Human-in-the-Loop Control, Postural Balance, Sensorimotor Learning | Links:

Smooth continuous transition between tasks on a kinematic control level: Obstacle avoidance as a control problem

Petrič, Tadej; Žlajpah, Leon

Smooth continuous transition between tasks on a kinematic control level: Obstacle avoidance as a control problem Journal Article

In: Robotics and Autonomous Systems, vol. 61, no. 9, pp. 948–959, 2013, ISSN: 09218890.

Abstract | BibTeX | Tags: Human-in-the-Loop Control, Optimal Control | Links:

2011

Human sensorimotor learning for humanoid robot skill synthesis

Babič, Jan; Hale, Joshua; Oztop, Erhan

Human sensorimotor learning for humanoid robot skill synthesis Journal Article

In: Adaptive Behavior, vol. 19, no. 4, pp. 250–263, 2011, ISSN: 1059-7123.

Abstract | BibTeX | Tags: Dynamic Motion, Human-in-the-Loop Control, Sensorimotor Learning | Links:

2010

Robot Skill Synthesis Through Human Visuo-Motor Learning - Humanoid Robot Statically-stable Reaching and In-place Stepping

Babič, Jan; Hajdinjak, Blaž; Oztop, Erhan

Robot Skill Synthesis Through Human Visuo-Motor Learning - Humanoid Robot Statically-stable Reaching and In-place Stepping Inproceedings

In: Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics, pp. 212–215, SciTePress - Science and and Technology Publications, Funchal, 2010, ISBN: 978-989-8425-00-3.

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

2009

Improving balance regulation in visuo-motor control for humanoid robots

Hajdinjak, Blaž; Babič, Jan; Oztop, Erhan

Improving balance regulation in visuo-motor control for humanoid robots Inproceedings

In: 2009 24th International Symposium on Computer and Information Sciences, pp. 405–408, IEEE, Guzelyut, 2009, ISBN: 978-1-4244-5021-3.

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

2008

From Biologically Realistic Imitation to Robot Teaching Via Human Motor Learning

Oztop, Erhan; Babič, Jan; Hale, Joshua; Cheng, Gordon; Kawato, Mitsuo

From Biologically Realistic Imitation to Robot Teaching Via Human Motor Learning Incollection

In: Ishikawa, Masumi; Doya, Kenji; Miyamoto, Hiroyuki; Yamakawa, Takeshi (Ed.): Neural Information Processing, vol. 4985, pp. 214–221, Springer, Berlin, 2008, ISSN: 0302-9743.

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