Digital repository of Slovenian research organisations

Search the repository
A+ | A- | Help | SLO | ENG

Query: search in
search in
search in
search in

Options:
  Reset


Query: "author" (Bojan Nemec) .

1 - 10 / 15
First pagePrevious page12Next pageLast page
1.
Hierarchical learning of robotic contact policies
Mihael Simonič, Aleš Ude, Bojan Nemec, 2023, original scientific article

Abstract: 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.
Keywords: autonomous robot learning, learning, experience, compliance and impedance contro
Published in DiRROS: 21.09.2023; Views: 346; Downloads: 171
.pdf Full text (1,73 MB)
This document has many files! More...

2.
3.
An efficient pbd framework for fast deployment of bi-manual assembly tasks
Bojan Nemec, Leon Žlajpah, Sebastjan Šlajpah, Jožica Piškur, Aleš Ude, 2018, published scientific conference contribution

Published in DiRROS: 08.10.2019; Views: 12677; Downloads: 1051
.pdf Full text (1,97 MB)

4.
Learning by demonstration and adaptation of finishing operations using virtual mechanism approach
Bojan Nemec, Kenichi Yasuda, Nathanael Mullennix, Nejc Likar, Aleš Ude, 2018, published scientific conference contribution

Published in DiRROS: 09.04.2019; Views: 2287; Downloads: 1101
.pdf Full text (3,85 MB)

5.
6.
Door opening by joining reinforcement learning and intelligent control
Bojan Nemec, Leon Žlajpah, Aleš Ude, 2017, published scientific conference contribution

Published in DiRROS: 19.03.2018; Views: 3054; Downloads: 1224
.pdf Full text (1,59 MB)

7.
Enhancing the performance of adaptive iterative learning control with reinforcement learning
Bojan Nemec, Mihael Simonič, Nejc Likar, Aleš Ude, 2017, published scientific conference contribution

Published in DiRROS: 19.03.2018; Views: 2921; Downloads: 1170
.pdf Full text (775,54 KB)

8.
9.
Human robot cooperation with compliance adaptation along the motion trajectory
Bojan Nemec, Nejc Likar, Andrej Gams, Aleš Ude, 2017, original scientific article

Published in DiRROS: 19.03.2018; Views: 2981; Downloads: 1619
.pdf Full text (1,67 MB)

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

Published in DiRROS: 19.03.2018; Views: 2915; Downloads: 1408
.pdf Full text (4,26 MB)

Search done in 0.29 sec.
Back to top