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248 results on '"Petrič, Tadej"'

1. Learning Joint Space Reference Manifold for Reliable Physical Assistance

Author

Razmjoo, Amirreza, Brecelj, Tilen, Savevska, Kristina, Ude, Aleš, Petrič, Tadej, and Calinon, Sylvain

Subjects
Computer Science - Robotics
Abstract

This paper presents a study on the use of the Talos humanoid robot for performing assistive sit-to-stand or stand-to-sit tasks. In such tasks, the human exerts a large amount of force (100--200 N) within a very short time (2--8 s), posing significant challenges in terms of human unpredictability and robot stability control. To address these challenges, we propose an approach for finding a spatial reference for the robot, which allows the robot to move according to the force exerted by the human and control its stability during the task. Specifically, we focus on the problem of finding a 1D manifold for the robot, while assuming a simple controller to guide its movement on this manifold. To achieve this, we use a functional representation to parameterize the manifold and solve an optimization problem that takes into account the robot's stability and the unpredictability of human behavior. We demonstrate the effectiveness of our approach through simulations and experiments with the Talos robot, showing robustness and adaptability., Comment: Video can be accessed via: https://www.youtube.com/watch?v=GQAad6GFPlE&list=LL&index=1; Accepted for IROS 2023

Published
2023

2. The JSI-KneExo: Active, Quasi-Passive, Pneumatic, Portable Knee Exo with Bidirectional Energy Flow for Air Recovery in Sit-Stand Tasks

Author

Mišković, Luka, Brecelj, Tilen, Dežman, Miha, and Petrič, Tadej

Subjects
Computer Science - Robotics, Electrical Engineering and Systems Science - Systems and Control
Abstract

While existing literature encompasses exoskeleton-assisted sit-stand tasks, the integration of energy recovery mechanisms remains unexplored. To push these boundaries further, this study introduces a portable pneumatic knee exoskeleton that operates in both quasi-passive and active modes, where active mode is utilized for aiding in standing up (power generation), thus the energy flows from the exoskeleton to the user, and quasi-passive mode for aiding in sitting down (power absorption), where the device absorbs and can store energy in the form of compressed air, leading to energy savings in active mode. The absorbed energy can be stored and later reused without compromising exoskeleton transparency in the meantime. In active mode, a small air pump inflates the pneumatic artificial muscle (PAM), which stores the compressed air, that can then be released into a pneumatic cylinder to generate torque. All electronic and pneumatic components are integrated into the system, and the exoskeleton weighs 3.9 kg with a maximum torque of 20 Nm at the knee joint. The paper describes the mechatronic design, mathematical model and includes a pilot study with an able-bodied subject performing sit-to-stand tasks. The results show that the exoskeleton can recover energy while assisting the subject and reducing muscle activity. Furthermore, results underscore air regeneration's impact on energy-saving in portable pneumatic exoskeletons., Comment: Preprint version

Published
2023

3. RobotBlockSet (RBS)—A Comprehensive Robotics Framework

Author

Žlajpah, Leon, Petrič, Tadej, Ceccarelli, Marco, Series Editor, Corves, Burkhard, Advisory Editor, Glazunov, Victor, Advisory Editor, Hernández, Alfonso, Advisory Editor, Huang, Tian, Advisory Editor, Jauregui Correa, Juan Carlos, Advisory Editor, Takeda, Yukio, Advisory Editor, Agrawal, Sunil K., Advisory Editor, Pisla, Doina, editor, Carbone, Giuseppe, editor, Condurache, Daniel, editor, and Vaida, Calin, editor

Published
2024
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4. A Novel Approach Exploiting Contact Points on Robot Structures for Enhanced End-Effector Accuracy

Author

Šifrer, Jan, Petrič, Tadej, Ceccarelli, Marco, Series Editor, Corves, Burkhard, Advisory Editor, Glazunov, Victor, Advisory Editor, Hernández, Alfonso, Advisory Editor, Huang, Tian, Advisory Editor, Jauregui Correa, Juan Carlos, Advisory Editor, Takeda, Yukio, Advisory Editor, Agrawal, Sunil K., Advisory Editor, Pisla, Doina, editor, Carbone, Giuseppe, editor, Condurache, Daniel, editor, and Vaida, Calin, editor

Published
2024
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5. Increased Complexity of a Human-Robot Collaborative Task May Increase the Need for a Socially Competent Robot

Author

Leskovar, Rebeka Kropivšek and Petrič, Tadej

Subjects
Computer Science - Robotics, Computer Science - Computers and Society, Computer Science - Human-Computer Interaction
Abstract

An important factor in developing control models for human-robot collaboration is how acceptable they are to their human partners. One such method for creating acceptable control models is to attempt to mimic human-like behaviour in robots so that their actions appear more intuitive to humans. To investigate how task complexity affects human perception and acceptance of their robot partner, we propose a novel human-based robot control model for obstacle avoidance that can account for the leader-follower dynamics that normally occur in human collaboration. The performance and acceptance of the proposed control method were evaluated using an obstacle avoidance scenario in which we compared task performance between individual tasks and collaborative tasks with different leader-follower dynamics roles for the robotic partner. The evaluation results showed that the robot control method is able to replicate human behaviour to improve the overall task performance of the subject in collaboration. However, regarding the acceptance of the robotic partner, the participants' opinions were mixed. Compared to the results of a study with a similar control method developed for a less complex task, the new results show a lower acceptance of the proposed control model, even though the control method was adapted to the more complex task from a dynamic standpoint. This suggests that the complexity of the collaborative task at hand increases the need not only for a more complex control model but also a more socially competent control model., Comment: 10 pages, 4 figures, accepted and published in the IEEE Advanced Robotics and its Social Impacts 2022 conference proceedings

Published
2022

6. Leader-Follower Dynamics in Complex Obstacle Avoidance Task

Author

Leskovar, Rebeka Kropivšek, Čamernik, Jernej, and Petrič, Tadej

Subjects
Computer Science - Robotics
Abstract

A question that many researchers in social robotics are addressing is how to create more human-like behaviour in robots to make the collaboration between a human and a robot more intuitive to the human partner. In order to develop a human-like collaborative robotic system, however, human collaboration must first be better understood. Human collaboration is something we are all familiar with, however not that much is known about it from a kinematic standpoint. One dynamic that hasn't been researched thoroughly, yet naturally occurs in human collaboration, is for instance leader-follower dynamics. In our previous study, we tackled the question of leader-follower role allocation in human dyads during a collaborative reaching task, where the results implied that the subjects who performed higher in the individual experiment would naturally assume the role of a leader when in physical collaboration. In this study, we build upon the leader-follower role allocation study in human dyads by observing how the leader-follower dynamics change when the collaborative task becomes more complex. Here, the study was performed on a reaching task, where one subject in a dyad was faced with an additional task of obstacle avoidance when performing a 2D reaching task, while their partner was not aware of the obstacle. We have found that subjects change their roles throughout the task in order to complete it successfully, however looking at the overall task leader the higher-performing individual will always dominate over the lower-performing one, regardless of whether they are aware of the additional task of obstacle avoidance or not., Comment: 13 pages, 7 figures

Published
2022

10. Optimizing Robot Positioning Accuracy with Kinematic Calibration and Deflection Estimation

Author

Žlajpah, Leon, Petrič, Tadej, Ceccarelli, Marco, Series Editor, Agrawal, Sunil K., Advisory Editor, Corves, Burkhard, Advisory Editor, Glazunov, Victor, Advisory Editor, Hernández, Alfonso, Advisory Editor, Huang, Tian, Advisory Editor, Jauregui Correa, Juan Carlos, Advisory Editor, Takeda, Yukio, Advisory Editor, Petrič, Tadej, editor, Ude, Aleš, editor, and Žlajpah, Leon, editor

Published
2023
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11. Variable Stiffness Joint Based on Pneumatic Relocation Mechanism

Author

Mišković, Luka, Petrič, Tadej, Ceccarelli, Marco, Series Editor, Agrawal, Sunil K., Advisory Editor, Corves, Burkhard, Advisory Editor, Glazunov, Victor, Advisory Editor, Hernández, Alfonso, Advisory Editor, Huang, Tian, Advisory Editor, Jauregui Correa, Juan Carlos, Advisory Editor, Takeda, Yukio, Advisory Editor, Petrič, Tadej, editor, Ude, Aleš, editor, and Žlajpah, Leon, editor

Published
2023
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12. Application of a Phase State System for Physical Human-Humanoid Robot Collaboration

Author

Brecelj, Tilen, Petrič, Tadej, Ceccarelli, Marco, Series Editor, Agrawal, Sunil K., Advisory Editor, Corves, Burkhard, Advisory Editor, Glazunov, Victor, Advisory Editor, Hernández, Alfonso, Advisory Editor, Huang, Tian, Advisory Editor, Jauregui Correa, Juan Carlos, Advisory Editor, Takeda, Yukio, Advisory Editor, Petrič, Tadej, editor, Ude, Aleš, editor, and Žlajpah, Leon, editor

Published
2023
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20. Evaluation of FMCW Radar for Potential Use in SSM

Author

Nimac, Peter, Petrič, Tadej, Krpič, Andrej, Gams, Andrej, Ceccarelli, Marco, Series Editor, Agrawal, Sunil K., Advisory Editor, Corves, Burkhard, Advisory Editor, Glazunov, Victor, Advisory Editor, Hernández, Alfonso, Advisory Editor, Huang, Tian, Advisory Editor, Jauregui Correa, Juan Carlos, Advisory Editor, Takeda, Yukio, Advisory Editor, Müller, Andreas, editor, and Brandstötter, Mathias, editor

Published
2022
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21. Phase State System for Generating Interactive Behaviors for Humanoid Robots

Author

Petrič, Tadej, Žlajpah, Leon, Ceccarelli, Marco, Series Editor, Agrawal, Sunil K., Advisory Editor, Corves, Burkhard, Advisory Editor, Glazunov, Victor, Advisory Editor, Hernández, Alfonso, Advisory Editor, Huang, Tian, Advisory Editor, Jauregui Correa, Juan Carlos, Advisory Editor, Takeda, Yukio, Advisory Editor, Müller, Andreas, editor, and Brandstötter, Mathias, editor

Published
2022
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22. Fitting Constrained Trajectory with High Variability into Redundant Robot Workspace

Author

Lončarević, Zvezdan, Petrič, Tadej, Gams, Andrej, Ceccarelli, Marco, Series Editor, Agrawal, Sunil K., Advisory Editor, Corves, Burkhard, Advisory Editor, Glazunov, Victor, Advisory Editor, Hernández, Alfonso, Advisory Editor, Huang, Tian, Advisory Editor, Jauregui Correa, Juan Carlos, Advisory Editor, Takeda, Yukio, Advisory Editor, Müller, Andreas, editor, and Brandstötter, Mathias, editor

Published
2022
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23. Geometric Identification of Denavit-Hartenberg Parameters with Optical Measuring System

Author

Žlajpah, Leon, Petrič, Tadej, Ceccarelli, Marco, Series Editor, Agrawal, Sunil K., Advisory Editor, Corves, Burkhard, Advisory Editor, Glazunov, Victor, Advisory Editor, Hernández, Alfonso, Advisory Editor, Huang, Tian, Advisory Editor, Jauregui Correa, Juan Carlos, Advisory Editor, Takeda, Yukio, Advisory Editor, Müller, Andreas, editor, and Brandstötter, Mathias, editor

Published
2022
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24. Angular Dependency of the Zero Moment Point

Author

Brecelj, Tilen, Petrič, Tadej, Ceccarelli, Marco, Series Editor, Agrawal, Sunil K., Advisory Editor, Corves, Burkhard, Advisory Editor, Glazunov, Victor, Advisory Editor, Hernández, Alfonso, Advisory Editor, Huang, Tian, Advisory Editor, Jauregui Correa, Juan Carlos, Advisory Editor, Takeda, Yukio, Advisory Editor, Zeghloul, Saïd, editor, Laribi, Med Amine, editor, and Sandoval, Juan, editor

Published
2021
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25. Exoskeleton Control Based on Network of Stable Heteroclinic Channels (SHC) Combined with Gaussian Mixture Models (GMM)

Author

Petrič, Tadej, Jamšek, Marko, Babič, Jan, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, and Lenarčič, Jadran, editor

Published
2021
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26. Dyadic Human-Human Interactions in Reaching Tasks: Fitts’ Law for Two

Author

Kropivšek Leskovar, Rebeka, Čamernik, Jernej, Petrič, Tadej, Ceccarelli, Marco, Series Editor, Hernandez, Alfonso, Editorial Board Member, Huang, Tian, Editorial Board Member, Takeda, Yukio, Editorial Board Member, Corves, Burkhard, Editorial Board Member, Agrawal, Sunil, Editorial Board Member, Zeghloul, Saïd, editor, Laribi, Med Amine, editor, and Sandoval Arevalo, Juan Sebastian, editor

Published
2020
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27. Combining Virtual and Physical Guides for Autonomous In-Contact Path Adaptation

Author

Petrič, Tadej, Žlajpah, Leon, Ceccarelli, Marco, Series Editor, Hernandez, Alfonso, Editorial Board Member, Huang, Tian, Editorial Board Member, Takeda, Yukio, Editorial Board Member, Corves, Burkhard, Editorial Board Member, Agrawal, Sunil, Editorial Board Member, Zeghloul, Saïd, editor, Laribi, Med Amine, editor, and Sandoval Arevalo, Juan Sebastian, editor

Published
2020
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28. Maximizing the End-Effector Cartesian Stiffness Range for Kinematic Redundant Robot with Compliance

Author

Lukić, Branko, Jovanović, Kosta, Knežević, Nikola, Žlajpah, Leon, Petrič, Tadej, Ceccarelli, Marco, Series Editor, Hernandez, Alfonso, Editorial Board Member, Huang, Tian, Editorial Board Member, Takeda, Yukio, Editorial Board Member, Corves, Burkhard, Editorial Board Member, Agrawal, Sunil, Editorial Board Member, Zeghloul, Saïd, editor, Laribi, Med Amine, editor, and Sandoval Arevalo, Juan Sebastian, editor

Published
2020
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29. Generation of Smooth Cartesian Paths Using Radial Basis Functions

Author

Žlajpah, Leon, Petrič, Tadej, Ceccarelli, Marco, Series Editor, Hernandez, Alfonso, Editorial Board Member, Huang, Tian, Editorial Board Member, Takeda, Yukio, Editorial Board Member, Corves, Burkhard, Editorial Board Member, Agrawal, Sunil, Editorial Board Member, Zeghloul, Saïd, editor, Laribi, Med Amine, editor, and Sandoval Arevalo, Juan Sebastian, editor

Published
2020
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30. Bounded Self-motion of Functional Redundant Robots

Author

Žlajpah, Leon, Petrič, Tadej, Kacprzyk, Janusz, Series Editor, Pal, Nikhil R., Advisory Editor, Bello Perez, Rafael, Advisory Editor, Corchado, Emilio S., Advisory Editor, Hagras, Hani, Advisory Editor, Kóczy, László T., Advisory Editor, Kreinovich, Vladik, Advisory Editor, Lin, Chin-Teng, Advisory Editor, Lu, Jie, Advisory Editor, Melin, Patricia, Advisory Editor, Nedjah, Nadia, Advisory Editor, Nguyen, Ngoc Thanh, Advisory Editor, Wang, Jun, Advisory Editor, Berns, Karsten, editor, and Görges, Daniel, editor

Published
2020
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31. On-line Adaption of Virtual Guides Through Physical Interaction

Author

Petrič, Tadej, Žlajpah, Leon, Kacprzyk, Janusz, Series Editor, Pal, Nikhil R., Advisory Editor, Bello Perez, Rafael, Advisory Editor, Corchado, Emilio S., Advisory Editor, Hagras, Hani, Advisory Editor, Kóczy, László T., Advisory Editor, Kreinovich, Vladik, Advisory Editor, Lin, Chin-Teng, Advisory Editor, Lu, Jie, Advisory Editor, Melin, Patricia, Advisory Editor, Nedjah, Nadia, Advisory Editor, Nguyen, Ngoc Thanh, Advisory Editor, Wang, Jun, Advisory Editor, Berns, Karsten, editor, and Görges, Daniel, editor

Published
2020
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32. KUKA LWR Robot Cartesian Stiffness Control Based on Kinematic Redundancy

Author

Lukić, Branko, Petrič, Tadej, Žlajpah, Leon, Jovanović, Kosta, Kacprzyk, Janusz, Series Editor, Pal, Nikhil R., Advisory Editor, Bello Perez, Rafael, Advisory Editor, Corchado, Emilio S., Advisory Editor, Hagras, Hani, Advisory Editor, Kóczy, László T., Advisory Editor, Kreinovich, Vladik, Advisory Editor, Lin, Chin-Teng, Advisory Editor, Lu, Jie, Advisory Editor, Melin, Patricia, Advisory Editor, Nedjah, Nadia, Advisory Editor, Nguyen, Ngoc Thanh, Advisory Editor, Wang, Jun, Advisory Editor, Berns, Karsten, editor, and Görges, Daniel, editor

Published
2020
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37. Task Space Torque Profile Adaptations for Dynamical Human-Robot Motion Transfer

Author

Petrič, Tadej, Gams, Andrej, Ceccarelli, Marco, Series Editor, Hernandez, Alfonso, Editorial Board Member, Huang, Tian, Editorial Board Member, Velinsky, Steven A., Editorial Board Member, Takeda, Yukio, Editorial Board Member, Corves, Burkhard, Editorial Board Member, Aspragathos, Nikos A., editor, Koustoumpardis, Panagiotis N., editor, and Moulianitis, Vassilis C., editor

Published
2019
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38. Virtual Guides for Redundant Robots Using Admittance Control for Path Tracking Tasks

Author

Žlajpah, Leon, Petrič, Tadej, Ceccarelli, Marco, Series Editor, Hernandez, Alfonso, Editorial Board Member, Huang, Tian, Editorial Board Member, Velinsky, Steven A., Editorial Board Member, Takeda, Yukio, Editorial Board Member, Corves, Burkhard, Editorial Board Member, Aspragathos, Nikos A., editor, Koustoumpardis, Panagiotis N., editor, and Moulianitis, Vassilis C., editor

Published
2019
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40. End-effector Cartesian stiffness shaping - sequential least squares programming approach

Author

Knežević Nikola, Lukić Branko, Jovanović Kosta, Žlajpah Leon, and Petrič Tadej

Subjects
cartesian stiffness control, robot redundancy, physical human-robot interaction, sequential last squares programming., Electrical engineering. Electronics. Nuclear engineering, TK1-9971
Abstract

Control of robot end-effector (EE) Cartesian stiffness matrix (or the whole mechanical impedance) is still a challenging open issue in physical humanrobot interaction (pHRI). This paper presents an optimization approach for shaping the robot EE Cartesian stiffness. This research targets collaborative robots with intrinsic compliance - serial elastic actuators (SEAs). Although robots with SEAs have constant joint stiffness, task redundancy (null-space) for a specific task could be used for robot reconfiguration and shaping the stiffness matrix while still keeping the EE position unchanged. The method proposed in this paper to investigate null-space reconfiguration's influence on Cartesian robot stiffness is based on the Sequential Least Squares Programming (SLSQP) algorithm, which presents an expansion of the quadratic programming algorithm for nonlinear functions with constraints. The method is tested in simulations for 4 DOF planar robot. Results are presented for control of the EE Cartesian stiffness initially along one axis, and then control of stiffness along both planar axis - shaping the main diagonal of the EE stiffness matrix.

Published
2021
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