Odsek za avtomatiko, biokibernetiko in robotiko





Bojan Nemec

Naziv: Višji znanstveni sodelavec
Vloga: Raziskovalec
Telefon: 01 477 3 565
Naslov elektronske pošte: bojan.nemec [at] ijs.si

Življenjepis

Izobrazba

  • Študij na Fakulteti za Elektrotehiko Univerze v Ljubljani, smer Avtomatika, diplomiral 1979
  • Podiplomski študij na Fakulteti za Elektrotehiko Univerze v Ljubljani,magistriral 1982
  • Doktorski študij na Fakulteti za Elektrotehiko Univerze v Ljubljani, doktoriral leta 1988
  • Postdoktorsko usposabljanje na "Institute for Real-Time Computer Systems and Robotics, University of Karlsruhe”, 1993
  • izvolitev v naziv docent za področje elektrotehnike na Univerzi na primorskem, fakulteti za Matematiko, naravoslovje ter informacijske tehnologije, 2009-06-09 

Zaposlitve

  • Fakulteta za Elektrotehniko, stažist raziskovalec.1979-1983
  • Institut Jožef Stefan, višji raziskovalni sodelavec, 1983 –

 Nagrade

  • Bedjaničeva nagrada za magisterij, 1982
  • Kidričeva nagrada za raziskovalno delo, 1987
  • New Technology Foundation Award for Entetrtainamenet Robotics and Systems,  for most outstanding paper and presentation in IROS 2009, StLouis, 14 Oktober, 2009
  • Best paper award in Intelligent Robotics in ICAR 2017, Hong Kong, 12 July 2017

Področje raziskovanja

  • vodenja robotov
  • avtonomno učenje robotov,
  • vključevanje senzorskih sistemov v vodenje robotov
  • meritve v biomehaniki

  

V letih 2002 do 2005 je bil kot vodja naloge vključen v takrat največji evropski projekt NAS - EUROShoE. Vodil je več aplikativno-razvojnih nalog za domače naročnike.

 

Projekti

EUROShoE (Avtomatizacija zaključnih operacij pri proizvodnji obutve)
Vpliv širine smuči na varnost pri alpskem smučanju
PACO+ (Zaznavanje, delovanje in kognitivni sistemi skozi učenje objektno-akcijskih struktur)
Intellact (Inteligentno opazovanje in izvedba robotskih operacij)
Xperience (Pospešeno robotsko učenje iz izkušenj)

Raziskovalne aktivnosti

Meritve v biomehaniki in športu
Robot smučar
Prijemanje predmetov s kamero v povratni zanki
Igranje Kendame z robotom
Vodenje kinematično redundantnih mehanizmov
Učenje nalivanja tekočin
Merjenje gibanja kolena z robotom
Kombinirano hitrostno in navorno vodenje mobilnega manipulatorja
Robot natakar
Vodenje kinematično redundantnih mehanizmov
Učenje nalivanja tekočin

Multimedija

Coaching (Coaching.mp4, 3449 kb)
Sodelovanje človeka z robotom (HRC-Plate.mp4, 9128 kb)
Dvofazno učenje z demonstracijo (TwoPhaseLbD.mp4, 4190 kb)
Humanoidna in servisna robotika (HumanoidnaInServisnaRobotika.pdf, 4784 kb)
Učenje primitivov gibanja (MotorLearning2015.pdf, 3636 kb)
Uvod v iterativne učeče regulatorje (IntroductionToILC.pdf, 1368 kb)
Vspudbujevano učenje v robotiki (ReinforcementLearningInRobotics .pdf, 1559 kb)

Izbrane publikacije

Članek v reviji

  • 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]
  • Vuga R., Nemec B., Ude A., Speed adaptation for self-improvement of skills learned from user demonstrations, Robotica, 2016, 34, 12, str. 2806-2822. [Več]
  • Vuga R., Nemec B., Ude A., Enhanced policy adaptation through directed explorative learning, International journal of humanoid robotics, 2015, 12, 3, str. 1550028-1-1550028-18. [Več]
  • Abu Dakka F., Nemec B., Jørgensen J., Savarimuthu T., Krüger N., Ude A., Adaptation of manipulation skills in physical contact with the environment to reference force profiles, Autonomous robots, 2015, 39, 2, str. 199-217. [Več]
  • 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. [Več]
  • Nemec B., Petrič T., Babič J., Supej M., Estimation of alpine skier posture using machine learning techniques, Sensors, 2014, 14, 10, str. 18898-18914. [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]
  • Likar N., Nemec B., Žlajpah L., Virtual mechanism approach for dual-arm manipulation, Robotica, 2013, 7 str.. [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]
  • Nemec B., Vuga R., Ude A., Efficient sensorimotor learning from multiple demonstrations, Advanced robotics, 2013, 27, 13, str. 1023-1031. [Več]
  • Nemec B., Ude A., Action sequencing using dynamic movement primitives, Robotica, 2012, 30, 5, str. 837-846. [Več]
  • 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. [Več]
  • Nemec B., Robot grasping using an ArToolKit library = Robotsko prijemanje objektov z uporabo ArToolKit knjižnice, Elektrotehniški vestnik, 2010, 77, 1, str. 69-74. [Več]
  • Nemec B., Žlajpah L., Robotic cell for custom finishing operations, International journal of computer integrated manufacturing, 2008, 21, 1, str. 33-42. [Več]
  • Lahajnar L., Kos A., Nemec B., Skiing robot - design, control, and navigation in unstructured enviroment, Robotica, 2008, 27, 4, str. 567-577. [Več]
  • Nemec B., Žlajpah L., Omrčen D., Comparison of null-space and minimal null-space control algorithms, Robotica, 2007, 25, 5, str. 511-520. [Več]
  • Nemec B., Žlajpah L., Force control of redundant robots in unstructured environment, IEEE transactions on industrial electronics, 2002, 49, str. 233-240. [Več]
  • Nemec B., Žlajpah L., Null space velocity control with dynamically consistent pseudo-inverse, Robotica, 2000, 18, str. 513-518. [Več]

Konferenčna objava

  • Kramberger A., Gams A., Nemec B., Ude A., Generalization of orientational motion in unit quaternion space, IEEE-RAS 16th International Conference on Humanoid Robots, November 15-17, 2016, Cancun, Mexico, HUMANOIDS 2016, 2016, str. 808-813. [Več]
  • Nemec B., Likar N., Gams A., Ude A., Bimanual human robot cooperation with adaptive stiffness control, IEEE-RAS 16th International Conference on Humanoid Robots, November 15-17, 2016, Cancun, Mexico, HUMANOIDS 2016, 2016, str. 607-613. [Več]
  • Nemec B., Petrič T., Ude A., Force adaptation with recursive regression iterative learning controller, 2015/IEEE/RSJ International Conference on Inteligent Robots and Systems, September 28 - October 2, 2015, Hamburg, Germany, IROS 2015, 2015, str. 2835-2841. [Več]
  • 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. [Več]
  • 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. [Več]
  • 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. [Več]
  • 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. [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]
  • 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. [Več]
  • 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.. [Več]
  • 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. [Več]
  • 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. [Več]
  • 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. [Več]
  • 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. [Več]
  • 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.. [Več]
  • 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. [Več]
  • Nemec B., Žlajpah L., Automation using robots in shoe assembly, CALZATECNIA : sobre Tecnología en la industria del calzado, 2007, 10 str.. [Več]
  • 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.. [Več]
  • 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. [Več]