Department for Automation, Biocybernetics and Robotics





Bojan Nemec

Title: senior research associate
Role: Researcher
Phone: +386 1 4773 565
E-mail: bojan.nemec [at] ijs.si

CV

Education

  • BS degree from Faculty of Electrical Engineering, Department for Automation, University of Ljubljana in 1979
  • MS degree from Faculty of Electrical Engineering, University of Ljubljana in 1982
  • PhD degree from Faculty of Electrical Engineering, University of Ljubljana in 1988
  • In 1993 he spent his sabbatical leave at the Institute for Real-Time Computer Systems and Robotics, University of Karlsruhe.
  • Assistant professor at University of Primorska, Faculty of Mathematics, Natural Sciences and Information Technologies, 2009 

Employment and management

  • 1979-1983 Faculty of Electrical Engineering, Department for Automation, research assistant
  • 1983- Jozef Stefan Institute, Department for Automatics, Biocybernetics and Robotics, senior researcher
  • Task leader of NAS EUROShoE EU FTR project 2001-2004
  • Project leader of several domestic projects
  • Member of the EU FP6 PACO+ Project
  • Member of the EU FP7 CONFIDENCE Project

Rewards

  • Vatrislav Bedjanic reward for Master thesis, 1982
  • Boris Kidric reward for research, 1987
  • New Technology Foundation Award for Entetrtainamenet Robotics and Systems,  for most outstanding paper and presentation in IROS 2009, StLouis, 2009

Research interest

  • Robot control
  • Autonomous robot learning
  • Sensor guided control
  • Biomechanical easurements in sport

 

Projects

EUROShoE (Automation of finishing operations in shoe assembly)
Influence of ski width on alpine skiing safety
PACO+ (Perception, Action, and Cognition through Learning of Object Action Complexes)
Intellact (Intelligent observation and execution of Actions and manipulations)
Xperience (Robots bootstrapped through learning from experience)

Research activities

Sports biomechanics
Grasping using ArToolKit library
Kendama playing robot
Skiing robot
Control of kinematically redundant mechanisms
Autonomous learning of pouring with a robot
Knee movement measurement using a robot
Combined torque and velocity control of mobile manipulator
Robot waiter
Control of kinematically redundant mechanisms
Autonomous learning of pouring with a robot

Multimedia

Humanoid and Service Robotics (HumanoidnaInServisnaRobotika.pdf, 4784 kb)
Motor Learning (MotorLearning2015.pdf, 3636 kb)
Introduction to ILC (IntroductionToILC.pdf, 1368 kb)
Reinforcement Learning in Robotics (ReinforcementLearningInRobotics .pdf, 1559 kb)

Selected publications

Article

  • Abu Dakka F., Nemec B., Kramberger A., Buch A., Krüger N., Ude A., Solving peg-in-hole tasks by human demonstration and exception strategies, Industrial robot, 2014, 41, 6, str. 575-584. [More]
  • Nemec B., Petrič T., Babič J., Supej M., Estimation of alpine skier posture using machine learning techniques, Sensors, 2014, 14, 10, str. 18898-18914. [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]
  • Likar N., Nemec B., Žlajpah L., Virtual mechanism approach for dual-arm manipulation, Robotica, 2013, 7 str.. [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]
  • Nemec B., Vuga R., Ude A., Efficient sensorimotor learning from multiple demonstrations, Advanced robotics, 2013, 27, 13, str. 1023-1031. [More]
  • Nemec B., Ude A., Action sequencing using dynamic movement primitives, Robotica, 2012, 30, 5, str. 837-846. [More]
  • Tamosiumaite M., Nemec B., Ude A., Wörgötter F., Learning to pour with a robot arm combining goal and shape learning for dynamic movement primitives, Robotics and autonomous systems, 2011, 59, 11, str. 910-922. [More]
  • Nemec B., Robot grasping using an ArToolKit library = Robotsko prijemanje objektov z uporabo ArToolKit knjižnice, Elektrotehniški vestnik, 2010, 77, 1, str. 69-74. [More]
  • Lahajnar L., Kos A., Nemec B., Skiing robot - design, control, and navigation in unstructured enviroment, Robotica, 2008, 27, 4, str. 567-577. [More]
  • Nemec B., Žlajpah L., Robotic cell for custom finishing operations, International journal of computer integrated manufacturing, 2008, 21, 1, str. 33-42. [More]
  • Nemec B., Žlajpah L., Omrčen D., Comparison of null-space and minimal null-space control algorithms, Robotica, 2007, 25, 5, str. 511-520. [More]
  • Nemec B., Žlajpah L., Force control of redundant robots in unstructured environment, IEEE transactions on industrial electronics, 2002, 49, str. 233-240. [More]
  • Nemec B., Žlajpah L., Null space velocity control with dynamically consistent pseudo-inverse, Robotica, 2000, 18, str. 513-518. [More]

Inproceedings

  • Vuga R., Nemec B., Ude A., Speed profile optimization through directed explorative learning, IEEE-RAS 14th International Conference on Humanoid Robots, November 18th-20th, 2014, Madrid, Spain, HUMANOIDS 2014, 2014, str. 547-553. [More]
  • Nemec B., Ude A., Robot skill acquisition by demonstration and explorative learning, Robot skill acquisition by demonstration and explorative learning, New trends in medical and service robots : challenges and solutions : [presented at International Exploratory Workshop "New Trends in Medical and Service Robots", July 2013, Belgrade, Serbia], 2014, str. 163-175. [More]
  • Ude A., Nemec B., Petrič T., Morimoto J., Orientation in Cartesian space dynamic movement primitives, 2014 IEEE International Conference on Robotics and Automation, 31 May - 7 June 2014, Hong Kong, China, ICRA 2014, 2014, str. 2997-3004. [More]
  • Nemec B., Gams A., Ude A., Velocity adaptation for self-improvement of skills learned from user demonstrations, IEEE-RAS International Conference on Humanoid Robots, October 15 -17, 2013, Atlanta, Georgia, USA, HUMANOIDS 2013, 2013, str. 423-428. [More]
  • Nemec B., Abu Dakka F., Ridge B., Ude A., Jørgensen J., Savarimuthu T., Petersen H., Jouffroy J., Krüger N., Transfer of assembly operations to new workpiece poses by adaptation to the desired force profile, 16th International Conference on Advanced Robotics, November 25th to 29th 2013, Montevideo, Uruguay, ICAR 2013, 2013, 7 str.. [More]
  • Nemec B., Ude A., Robot skill acquisition by demonstration and explorative learning, 2nd International Exploratory Workshop on New Trends in Medical and Service Robotics, July 11th to July 13th Belgrade, Serbia, MeSRob 2013, 2013. [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]
  • Nemec B., Forte D., Vuga R., Tamošiunaté M., Wörgötter F., Ude A., Applying statistical generalization to determine search direction for reinforcement learning of movement primitives, 2012 12th IEEE-RAS International Conference on Humanoid Robots, November 29 - December 1, 2012, Osaka, Japan, HUMANOIDS 2012, 2012, str. 65-70. [More]
  • Nemec B., Zorko M., Žlajpah L., Learning of a ball-in-a-cup playing robot, 19th International Workshop on Robotics in Alpe-Adria-Danube Region, June 23-27, 2010, Budapest [and] Balatonfüred, RAAD 2010 : [proceedings], 2010, str. 297-301. [More]
  • Nemec B., Tamošiunaitè M., Wörgöter F., Ude A., Task adaptation thorough exploration and action sequencing, 9th IEEE-RAS International Conference on Humanoid Robots, Paris, December 7-10, 2009, Humanoids 09, 2009, str. 610-616. [More]
  • Nemec B., Lahajnar L., Control and navigation of the skiing robot, The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 11-15, 2009, St. Louis, Missouri, USA, IROS 2009, 2009, str. 2321-2326. [More]
  • Nemec B., Žlajpah L., Task redundancy resolution using virtual mechanism apporach, 17th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2008, 15-17 September 2008, Ancona, Italy, RAAD 2008 : CD of proceedings, 2008, 7 str.. [More]
  • Nemec B., Žlajpah L., Shoe grinding cell using virtual mechanism approach, Fifth International Conference on Informatics in Control, Automation and Robotics, 11-15 May, 2008, Funchal, Madeira - Portugal, ICINCO 2008 : proceedings, 2008, str. 159-164. [More]
  • Nemec B., Žlajpah L., Automation using robots in shoe assembly, CALZATECNIA : sobre Tecnología en la industria del calzado, 2007, 10 str.. [More]
  • Nemec B., Žlajpah L., Omrčen D., Stability of null-space control algorithms, 12th International Workshop on Robotics in Alpe-Adria-Danube Region, Cassino, Italy, May 7-10, 2003, RAAD '03 proceedings, 2003, 6 str.. [More]
  • Nemec B., Žlajpah L., Experiments with force control of redundant robots in ustructured environment using minimal null space formulation, 4th IEEE International Conference on Intelligent Engineering Systems - INES 2000, September 17 - 19, 2000, Portorož, Slovenia, Proceedings, 2000, str. 117-120. [More]