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Iskalni niz: "avtor" (Bojan Nemec) .

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1.
Hierarchical learning of robotic contact policies
Mihael Simonič, Aleš Ude, Bojan Nemec, 2023, izvirni znanstveni članek

Povzetek: The paper addresses the issue of learning tasks where a robot maintains permanent contact with the environment. We propose a new methodology based on a hierarchical learning scheme coupled with task representation through directed graphs. These graphs are constituted of nodes and branches that correspond to the states and robotic actions, respectively. The upper level of the hierarchy essentially operates as a decision-making algorithm. It leverages reinforcement learning (RL) techniques to facilitate optimal decision-making. The actions are generated by a constraint-space following (CSF) controller that autonomously identifies feasible directions for motion. The controller generates robot motion by adjusting its stiffness in the direction defined by the Frenet–Serret frame, which is aligned with the robot path. The proposed framework was experimentally verified through a series of challenging robotic tasks such as maze learning, door opening, learning to shift the manual car gear, and learning car license plate light assembly by disassembly.
Ključne besede: autonomous robot learning, learning, experience, compliance and impedance contro
Objavljeno v DiRROS: 21.09.2023; Ogledov: 338; Prenosov: 166
.pdf Celotno besedilo (1,73 MB)
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An efficient pbd framework for fast deployment of bi-manual assembly tasks
Bojan Nemec, Leon Žlajpah, Sebastjan Šlajpah, Jožica Piškur, Aleš Ude, 2018, objavljeni znanstveni prispevek na konferenci

Objavljeno v DiRROS: 08.10.2019; Ogledov: 12672; Prenosov: 1046
.pdf Celotno besedilo (1,97 MB)

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Learning by demonstration and adaptation of finishing operations using virtual mechanism approach
Bojan Nemec, Kenichi Yasuda, Nathanael Mullennix, Nejc Likar, Aleš Ude, 2018, objavljeni znanstveni prispevek na konferenci

Objavljeno v DiRROS: 09.04.2019; Ogledov: 2276; Prenosov: 1098
.pdf Celotno besedilo (3,85 MB)

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Door opening by joining reinforcement learning and intelligent control
Bojan Nemec, Leon Žlajpah, Aleš Ude, 2017, objavljeni znanstveni prispevek na konferenci

Objavljeno v DiRROS: 19.03.2018; Ogledov: 3051; Prenosov: 1221
.pdf Celotno besedilo (1,59 MB)

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Enhancing the performance of adaptive iterative learning control with reinforcement learning
Bojan Nemec, Mihael Simonič, Nejc Likar, Aleš Ude, 2017, objavljeni znanstveni prispevek na konferenci

Objavljeno v DiRROS: 19.03.2018; Ogledov: 2907; Prenosov: 1167
.pdf Celotno besedilo (775,54 KB)

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Human robot cooperation with compliance adaptation along the motion trajectory
Bojan Nemec, Nejc Likar, Andrej Gams, Aleš Ude, 2017, izvirni znanstveni članek

Objavljeno v DiRROS: 19.03.2018; Ogledov: 2966; Prenosov: 1614
.pdf Celotno besedilo (1,67 MB)

10.
Skill learning and action recognition by arc-length dynamic movement primitives
Timotej Gašpar, Bojan Nemec, Jun Morimoto, Aleš Ude, 2018, izvirni znanstveni članek

Objavljeno v DiRROS: 19.03.2018; Ogledov: 2912; Prenosov: 1405
.pdf Celotno besedilo (4,26 MB)

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