Odsek za avtomatiko, biokibernetiko in robotiko





Andrej Gams

Naziv: Znanstveni sodelavec
Vloga: Raziskovalec
Telefon: 01 477-33-19
Naslov elektronske pošte: andrej.gams [at] ijs.si

Življenjepis

Aprila 2017 sem bil izvoljen v Višjega znanstvenega sodelavca IJS (~ izredni profesor).

 

Novembra 2015 me je senat Mednarodne podiplomske šole Jožefa Stefana habilitiral v docenta za področje avtomatika.

 

Na mednarodni konferenci IROS 2015 sem s Sylvain Calinon-om in Freek Stulp-om so-organiziral workshop z naslovom Physical Human-Robot Collaboration: Safety, Control, Learning and Applications.

 

Prejel sem nagrado za najboljšega recenzenta na konferenci 2015 IEEE International Conference on Robotics and Automation (ICRA)!

ICRA_Reviewer_Award_15.jpg

 

Prejel sem nagrado (s Tadejem Petričem) za najboljši prispevek na konferenci RAAD 2014!

RAAD14_best_paper_award.jpg

 

Z novembrom 2013 sem se vrnil na ABR, kjer sodelujem kot Znanstveni sodelavec.

 

Septembra 2012 sem prejel SCIEX štipendijo za raziskave v Švici. Raziskave bom opravljal v Biorobotics Laboratory na EPFL v Lozani v Švici pri prof. Ijspeertu.

 

Marca 2012 sem prejel nagrado Zlati znak Jožefa Stefana za področje tehnike za doktorsko delo. Za nagrado me je predlagal prof. Bajd s Fakultete za elektrotehniko Univerze v Ljubljani. (Novica.)

Zlatiznak.jpg

 

 

Prejeli smo nagrado za najboljši znanstveni članek na konferenci RAAD 2010!

RAAD_AWARD.jpg

 

 

Andrej Gams je diplomiral in doktoriral na Fakulteti za elektrotehniko na Univerzi v Ljubljani. Raziskave za svoj doktorat je opravljal na Odseku za avtomatiko, biokibernetiko in robotiko na Institutu "Jožef Stefan", kjer je zaposlen že od diplome. Del svojega doktorata je opravil tudi pri skupini Biologically Inspired Robotics Group - BIRG (sedaj Biorobotics Laboratory) na EPFL v Švici.

 

Njegovo raziskovalno področje zajema preučevanje gibanja robotov na človeku podoben način ter predvsem vodenje periodičnih in aperiodičnih nalog z uporabo nelinearnih dinamičnih sistemov.

 

Videi z rezultati robotskih raziskav so zbrani na youtube-u.

Multimedija

Predavanja MPS4 - matlab examples (DMP_and_generalization_examples_Matlab.zip, 879 kb)
Predavanja MPS3 (Methods.pdf, 3226 kb)
Predavanja MPS2 (Generalization.pdf, 2501 kb)
Predavanja MPS1 (DMPs.pdf, 3533 kb)

Izbrane publikacije

Članek v reviji

  • 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. [Več]
  • 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. [Več]
  • 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. [Več]
  • 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.. [Več]
  • 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. [Več]
  • 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. [Več]
  • 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. [Več]
  • Petrič T., Gams A., Babič J., Žlajpah L., Reflexive stability control framework for humanoid robots, Autonomous robots, 2013, 34, 4, str. 347-361. [Več]
  • 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. [Več]
  • 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. [Več]
  • 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. [Več]
  • 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. [Več]
  • 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. [Več]
  • 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. [Več]
  • 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. [Več]
  • Gams A., Žlajpah L., Lenarčič J., Imitating human acceleration of a gyroscopic device, Robotica, 2007, 25, 4, str. 501-509. [Več]

Konferenčna objava

  • 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. [Več]
  • 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. [Več]
  • 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. [Več]
  • 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. [Več]
  • 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. [Več]
  • 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. [Več]
  • 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.. [Več]
  • 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. [Več]
  • 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. [Več]

Poglavje v knjigi

  • 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. [Več]