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.

Show all

2021

Inferring Cost Functions Using Reward Parameter Search and Policy Gradient Reinforcement Learning

Arditi, Emir; Kunavar, Tjaša; Ugur, Emre; Babič, Jan; Oztop, Erhan

Inferring Cost Functions Using Reward Parameter Search and Policy Gradient Reinforcement Learning Inproceedings

In: IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society, pp. 1–6, IEEE, 2021, ISBN: 978-1-6654-3554-3.

Abstract | BibTeX | Tags: Human Motor Control, Optimal Control, Sensorimotor Learning | Links:

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:

2020

Learning Hierarchical Acquisition Functions for Bayesian Optimization

Rottmann, Nils; Kunavar, Tjaša; Babič, Jan; Peters, Jan; Rueckert, Elmar

Learning Hierarchical Acquisition Functions for Bayesian Optimization Inproceedings

In: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5490–5496, 2020.

Abstract | BibTeX | Tags: Human Motor Control, Neuromusculoskeletal Modelling, Optimal Control, Postural Balance | Links:

2019

Target of initial sub-movement in multi-component arm-reaching strategy

Peternel, Luka; Babič, Jan

Target of initial sub-movement in multi-component arm-reaching strategy Journal Article

In: Scientific Reports, vol. 9, no. 1, pp. 20101, 2019, ISSN: 2045-2322.

Abstract | BibTeX | Tags: Human Motor Control, Optimal Control, Sensorimotor Learning | Links:

Assistive Arm-Exoskeleton Control Based on Human Muscular Manipulability

Petrič, Tadej; Peternel, Luka; Morimoto, Jun; Babič, Jan

Assistive Arm-Exoskeleton Control Based on Human Muscular Manipulability Journal Article

In: Frontiers in Neurorobotics, vol. 13, pp. 30, 2019, ISSN: 1662-5218.

Abstract | BibTeX | Tags: Compliance and Impedance Control, Human Performance Augmentation, Optimal Control | Links:

Effects of the weighting matrix on dynamic manipulability of robots

Azad, Morteza; Babič, Jan; Mistry, Michael

Effects of the weighting matrix on dynamic manipulability of robots Journal Article

In: Autonomous Robots, vol. 43, no. 7, pp. 1867–1879, 2019.

Abstract | BibTeX | Tags: Human Motor Control, Optimal Control, Postural Balance | Links:

2018

Configurable dynamical environment simulation platform for studies of whole- body motor control and learning

Čamernik, Jernej; Rueckert, Elmar; Oztop, Erhan; Babič, Jan

Configurable dynamical environment simulation platform for studies of whole- body motor control and learning Inproceedings

In: Congress programme, 8th World Congress of Biomechanics, 8-12 July 2018, Dublin, Ireland, Dublin, 2018.

Abstract | BibTeX | Tags: Human Motor Control, Optimal Control, Sensorimotor Learning

2017

Unifying Speed-Accuracy Trade-Off and Cost-Benefit Trade-Off in Human Reaching Movements

Peternel, Luka; Sigaud, Olivier; Babič, Jan

Unifying Speed-Accuracy Trade-Off and Cost-Benefit Trade-Off in Human Reaching Movements Journal Article

In: Frontiers in Human Neuroscience, vol. 11, pp. 615, 2017, ISSN: 1662-5161.

Abstract | BibTeX | Tags: Human Motor Control, Neuromusculoskeletal Modelling, Optimal Control | Links:

Hammering Does Not Fit Fitts' Law

Petrič, Tadej; Simpson, Cole S; Ude, Aleš; Ijspeert, Auke J

Hammering Does Not Fit Fitts' Law Journal Article

In: Frontiers in Computational Neuroscience, vol. 11, no. May, pp. 1–12, 2017, ISSN: 1662-5188.

Abstract | BibTeX | Tags: Human Motor Control, Neuromusculoskeletal Modelling, Optimal Control | Links:

2016

Probabilistic Movement Models Show that Postural Control Precedes and Predicts Volitional Motor Control

Rueckert, Elmar; Čamernik, Jernej; Peters, Jan; Babič, Jan

Probabilistic Movement Models Show that Postural Control Precedes and Predicts Volitional Motor Control Journal Article

In: Scientific Reports, vol. 6, no. 1, pp. 28455, 2016, ISSN: 2045-2322.

Abstract | BibTeX | Tags: Human Motor Control, Neuromusculoskeletal Modelling, Optimal Control, Sensorimotor Learning | Links:

2015

Generalization of discrete Compliant Movement Primitives

Deniša, Miha; Gams, Andrej; Ude, Aleš; Petrič, Tadej

Generalization of discrete Compliant Movement Primitives Inproceedings

In: 2015 International Conference on Advanced Robotics (ICAR), pp. 565–572, IEEE, Istanbul, 2015, ISBN: 978-1-4673-7509-2.

Abstract | BibTeX | Tags: Compliance and Impedance Control, Optimal Control | Links:

2014

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

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:

2010

Optimizing parameters of trajectory representation for movement generalization: robotic throwing

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

Optimizing parameters of trajectory representation for movement generalization: robotic throwing Inproceedings

In: 19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010), pp. 161–166, IEEE, Budapest, 2010, ISBN: 978-1-4244-6885-0.

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

2009

Direct use of functional gradients and linear programming in optimal control

Lenart, Lado; Babič, Jan; Kušar, Janez

Direct use of functional gradients and linear programming in optimal control Inproceedings

In: Štirn, Lidija Zadnik; Žerovnik, Janez; Drobne, Samo; Lisec, Anka (Ed.): Proceedings of the 10th International Symposium on Operational Research in Slovenia, SOR 2009, pp. 289–298, Nova Gorica, 2009, ISBN: 9789616165303.

Abstract | BibTeX | Tags: Optimal Control

2007

Some mixed algorithms in optimal control

Lenart, Lado; Babič, Jan; Kušar, Janez

Some mixed algorithms in optimal control Inproceedings

In: Štirn, Lidija Zadnik; Drobne, Samo (Ed.): Proceedings of the 8th International Symposium on Operational Research in Slovenia, SOR 2007, pp. 185–190, Nova Gorica, 2007.

Abstract | BibTeX | Tags: Optimal Control

2005

Dynamic programming in control

Lenart, Lado; Babič, Jan

Dynamic programming in control Inproceedings

In: Štirn, Lidija Zadnik; Drobne, Samo (Ed.): Proceedings of the 8th International Symposium on Operational Research in Slovenia, SOR 2005, pp. 63–68, Nova Gorica, 2005, ISBN: 9616165208 | 9789616165204.

Abstract | BibTeX | Tags: Optimal Control