Department for Automation, Biocybernetics and Robotics





Andrej Gams

Title: Research associate
Role: Researcher
Phone: +386 1 477-33-19
E-mail: andrej.gams [at] ijs.si

CV

In April of 2017 I was promoted to senior researcher (~ associate professor).

 

In November of 2015 I was promoted to assistant professor at the Jožef Stefan International Postgraduate School.

 

I co-organized with Sylvain Calinon and Freek Stulp a Workshop Physical Human-Robot Collaboration: Safety, Control, Learning and Applications at IROS 2015.

 

I was awarded the ICRA 2015 CEB Best Reviewer Award at The 2015 IEEE International Conference on Robotics and Automation (ICRA) conference.

ICRA_Reviewer_Award_15.jpg

 

 

I was awarded (with Tadej Petrič) the Best Scientific Paper Award at RAAD 2014 conference!

RAAD14_best_paper_award.jpg

 

In November 2013 I returned to ABR to the position of Research associate ( ~assistant professor).

 

In september 2012 I received SCIEX fellowship for research in Switzerland. I will conduct my research at Biorobotics Laboratory at EPFL in Lausanne, Switzerland, with prof. Ijspeert.

 

In March 2012 I received the Zlati znak Jožefa Stefana - Jožef Stefan golden emblem award in the field of technical PhDs for my doctoral thesis. I was nominated for the award by prof. Bajd from the Faculty of Electrical engineering at the University of Ljubljana. (News.)

Zlatiznak.jpg

 

 

We won the Best Paper Research Award at RAAD 2010!

RAAD_AWARD.jpg

 

Andrej Gams both graduated and received his PhD at the Faculty of Electrical Engineering at the University of Ljubljana. He performed his doctoral research at the Department for Automation, Biocybernetics and Robotics at the Jožef Stefan Institute, where he has been employed since his graduation. He performed a part of his PhD research at the Biologically Inspired Robotics Group - BIRG (now Biorobotics Laboratory) at EPFL in Switzerland.

 

His research intresests include human-like robotic movement and mostly control of periodic and aperiodic movements with the use of nonlinear dynamical systems.

 

Videos showing results in robotic research are collected in a youtube channel.

Selected publications

Article

  • Gams A., Petrič T., Do M., Nemec B., Morimoto J., Asfour T., Ude A., Adaptation and coaching of periodic motion primitives through physical and visual interaction, Robotics and autonomous systems, 2016, 75, str. 340-351. [More]
  • Deniša M., Gams A., Ude A., Petrič T., Learning compliant movement primitives through demonstration and statistical generalization, IEEE/ASME transactions on mechatronics, 2016, 21, 5, str. 2581-2594. [More]
  • Gams A., Kiebooma J., Dzeladini F., Ude A., Ijspeert A., Real-time full body motion imitation on the COMAN humanoid robot, Robotica, 2015, 33, 5, str. 1049-1061. [More]
  • Gams A., Petrič T., Do M., Nemec B., Morimoto J., Asfour T., Ude A., Adaptation and coaching of periodic motion primitives through physical and visual interaction, Robotics and autonomous systems, 2015, 58 str.. [More]
  • Gams A., Nemec B., Ijspeert A., Ude A., Coupling movement primitives : interaction with the environment and bimanual tasks, IEEE transactions on robotics, 2014, 30, 40, str. 816-830. [More]
  • Petrič T., Gams A., Babič J., Žlajpah L., Reflexive stability control framework for humanoid robots, Autonomous robots, 2013, 34, 4, str. 347-361. [More]
  • Petrič T., Peternel L., Gams A., Nemec B., Žlajpah L., Navigation methods for the skiing robot, International journal of humanoid robotics, 2013, 10, 4, str. 1350029-1-1350029-21. [More]
  • Gams A., Petrič T., Debevec T., Babič J., Effects of robotic knee exoskeleton on human energy expenditure, IEEE transactions on bio-medical engineering, 2013, 60, 6, str. 1636-1644. [More]
  • Petrič T., Gams A., Debevec T., Žlajpah L., Babič J., Control approaches for robotic knee exoskeleton and their effects on human motion, Advanced Robotics, 2013, 27, 3, str. 993-1002. [More]
  • Forte D., Gams A., Morimoto J., Ude A., On-line motion synthesis and adaptation using a trajectory database, Robotics and autonomous systems, 2012, 60, 10, str. 1327-1339. [More]
  • Petrič T., Gams A., Ijspeert A., Žlajpah L., On-line frequency adaptation and movement imitation for rhythmic robotic tasks, The international journal of robotics research, 2011, 30, 14, str. 1775-1788. [More]
  • Ude A., Gams A., Asfour T., Morimoto J., Task-specific generalization of discrete and periodic dynamic movement primitives, IEEE transactions on robotics, 2010, 26, 5, str. 800-815. [More]
  • Petrič T., Gams A., Žlajpah L., Robotizirani jojo : strategija vodenja z uporabo nelinearnih dinamičnih sistemov = Robotic yoyo : a control strategy based on nonlinear dynamic systems, Elektrotehniški vestnik, 2010, 77, 1, str. 31-36. [More]
  • Gams A., Ijspeert A., Schaal S., Lenarčič J., On-line learning and modulation of periodic movements with nonlinear dynamical systems, Autonomous robots, 2009, 27, 1, str. 3-23. [More]
  • Gams A., Lenarčič J., Žlajpah L., Vrtenje žiroskopske naprave z robotom = Spinning of a gyroscopic device with robot, Elektrotehniški vestnik, 2007, 74, 4, str. 223-228. [More]
  • Gams A., Žlajpah L., Lenarčič J., Imitating human acceleration of a gyroscopic device, Robotica, 2007, 25, 4, str. 501-509. [More]

Inproceedings

  • Gams A., Ude A., On-line coaching of robots through visual and physical interaction : analysis of effectiveness of human-robot interaction strategies, 2016 IEEE International Conference on Robotics and Automation, May 16-21, 2016, Stockholm, Sweden, ICRA 2016, 2016, str. 3028-3034. [More]
  • Gams A., Deniša M., Ude A., Learning of parametric coupling terms for robot-environment interaction, IEEE-RAS 15th International Conference on Humanoid Robots, November 3-5, 2015, Seoul, Korea, HUMANOIDS 2015, 2015, str. 304-309. [More]
  • Gams A., Ude A., Morimoto J., Accelerating synchronization of movement primitives : dual-arm discrete-periodic motion of a humanoid robot, 2015/IEEE/RSJ International Conference on Inteligent Robots and Systems, September 28 - October 2, 2015, Hamburg, Germany, IROS 2015, 2015, str. 2754-2760. [More]
  • Gams A., Kiebooma J., Vespignani M., Guyot L., Ude A., Ijspeert A., Rich periodic motor skills on humanoid robots : riding the pedal racer, 2014 IEEE International Conference on Robotics and Automation, 31 May - 7 June 2014, Hong Kong, China, ICRA 2014, 2014, str. 2326-2332. [More]
  • Petrič T., Gams A., Žlajpah L., Ude A., Online learning of task-specific dynamics for periodic tasks, 2014/IEEE/RSJ International Conference on Inteligent Robots and Systems, September 14-18, 2014, Chicago, IL, IROS2014, 2014, str- 1790-1795. [More]
  • Gams A., Petrič T., Nemec B., Ude A., Learning and adaptation of periodic motion primitives based on force feedback and human coaching interaction, IEEE-RAS 14th International Conference on Humanoid Robots, November 18th-20th, 2014, Madrid, Spain, HUMANOIDS 2014, 2014, str. 168-171. [More]
  • Gams A., Petrič T., Adapting periodic motion primitives to external feedback : modulating and changing the motion, 23rd International Workshop on Robotics in Alpe-Adria-Danube Region [also] RAAD 2014, September 3 - 5, 2014, Smolenice, Slovakia, Conference proceedings, 2014, 6 str.. [More]
  • Gams A., Nemec B., Žlajpah L., Waechter M., Ijspeert A., Asfour T., Ude A., Modulation of motor primitives using force feedback : interaction with the Environment and Bimanual Tasks, 2013/IEEE/RSJ International Conference on Inteligent Robots and Systems, November 3-8, 2013, Tokyo, Japan, IROS2013 : New horizon, 2013, str. 5629-5635. [More]
  • Gams A., Petrič T., Žlajpah L., Ude A., Optimizing parameters of trajectory representation for movement generalization : robotic throwing, 19th International Workshop on Robotics in Alpe-Adria-Danube Region, June 23-27, 2010, Budapest [and] Balatonfüred, RAAD 2010 : [proceedings], 2010, str. 161-166. [More]

Inbook

  • Gams A., Petrič T., Ude A., Žlajpah L., The future of humanoid robots - research and applications, Performing periodic tasks : on-line learning, adaptation and synchronization with external signals, 2012, str. 1-28. [More]