Department for Automation, Biocybernetics and Robotics





Tadej Petrič

Title: Researcher
Role: Researcher
Phone: 01 477 31 40
E-mail: tadej.petric [at] ijs.si

CV

 

Tadej Petrič attended the Faculty of Electrical Engineering and Computer Science at the University of Maribor, Slovenia, where he obtained the B.Sc degree in Electrical Engineering in 2008. His B.Sc. covered modeling and robotic control of underactuated dynamic system. For his work, he received the prof. dr. Vratislav Bedjanič award in 2008.

 

In 2013 he received the D.Sc. degree in robotics from the Faculty of Electrical Engineering at the University of Ljubljana. He performed a part of his doctoral research at the Department of Robotic Systems for Dynamic Control of Legged Humanoid Robots at German Aerospace Center (DLR) in Germany. In 2013 he was a visiting researcher at ATR Computational Neuroscience Laboratories in Japan.

 

In 2015 he was a Postdoctoral Fellow with the Biorob (prof. Auke Ijspeert lab), at the École polytechnique fédérale de Lausanne (EPFL).

 

He is currently a research associate ( ~assistant professor) at the Department for Automation, Biocybernetics and Robotics at the Jožef Stefan Institute.


His research interests include human-like robotic movement and mostly control of dynamical systems. Videos showing results in robotic research are collected in a youtube channel!

 

Awards

 

Scientific conference program and organization committees:

 

Member of editorial boards:

 

Personal bibliography - Link 

 

Source Code:

 Periodic Dynamic Movement Primitives (pDMP) Library 

Adaptive Phase Oscillator based on Adaptive Fourier Series Library

Research activities

Reflexive stability of the skiing robot
Control of periodic robotic task with the use of classical control approaches
Two-layered system for movement imitation
Control of rhythmic tasks with the use of a two-layered system
Skiing robot

Selected publications

Article

  • Peternel L., Petrič T., Oztop E., Babič J., Teaching robots to cooperate with humans in dynamic manipulation tasks based on multi-modal human-in-the-loop approach, Autonomous robots, 2014, 46, 1, str. 123-136. [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]
  • Babič J., Petrič T., Peternel L., Šarabon N., Effects of supportive hand contact on reactive postural control during support perturbations, Gait & posture, 2014, 40, 3, str. 441-446. [More]
  • Petrič T., Žlajpah L., Smooth continuous transition between tasks on a kinematic control leve : obstacle avoidance as a control problem, Robotics and autonomous systems, 2013, 61, 9, 948-959. [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]
  • Gams A., Petrič T., Žlajpah L., Ude A., Optimizing parameters of trajectory representation for movement generalization : robotic throwing, International journal of mechanics and control, 2011, 12, 1, str. 19-25. [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]
  • Petrič T., Curk B., Cafuta P., Žlajpah L., Modelling of the robotic Powerball : a nonholonomic, underactuated and variable structure-type system, Mathematical and computer modelling of dynamical systems, 2010, 16, 4, str. 327-346. [More]
  • Petrič T., Gams A., Žlajpah L., Extracting the frequency of robotic tasks with an adaptive Fourier series : application to yo-yo, Informatics in control, automation and robotics : revised and selected papers from the International Conference on Informatics in Control, Automation and Robotics 2010, [ICINCO 2010, 15-18 June 2010, Madeira, Portugal], Informatics in control, automation and robotics : revised and selected papers from the International Conference on Informatics in Control, Automation and Robotics 2010, [ICINCO 2010, 15-18 June 2010, Madeira, Portugal], str. 185-196. [More]

Inproceedings

  • 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]
  • 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]
  • 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]
  • Petrič T., Gams A., Žlajpah L., Ude A., Morimoto J., Online approach for altering robot behaviors based on human in the loop coaching gestures, 2014 IEEE International Conference on Robotics and Automation, 31 May - 7 June 2014, Hong Kong, China, ICRA 2014, 2014, str. 4770-4776. [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]
  • Vuga R., Ogrinc M., Gams A., Petrič T., Sugimoto N., Ude A., Morimoto J., Motion capture and reinforcement learning of dynamically stable humanoid movement primitives, 2013 IEEE International Conference on Robotics and Automation, May 6-10, 2013 Karslruhe, Germany, ICRA 2013, 2013, str. 5264-5270. [More]
  • Petrič T., Žlajpah L., Garofalo G., Ott C., Walking control using adaptive oscillators combined with dynamic movement primitives, 22nd International Workshop on Robotics in Alpe-Adria-Danube Region [also] RAAD 2013, September 11-13, Portorož, Slovenia, Proceedings, 2013, str. 204-211. [More]
  • Deniša M., Petrič T., Asfour T., Ude A., Synthesizing compliant reaching movements by searching a databaseof example trajectories, IEEE-RAS International Conference on Humanoid Robots, October 15 -17, 2013, Atlanta, Georgia, USA, HUMANOIDS 2013, 2013, str. 540-546. [More]
  • Petrič T., Žlajpah L., Smooth transition between tasks on a kinematic control level : application to self collision avoidance for two Kuka LWR robots, IEEE-ROBIO 2011, 2011, str. 162-167. [More]
  • Petrič T., Nemec B., Babič J., Žlajpah L., Multilayer control of skiing robot, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, September 25-30, 2011, San Francisco, USA, IROS 2011, 2011, str. 4832-4837. [More]
  • Petrič T., Gams A., Žlajpah L., Human-robot cooperative rope turning using nonlinear oscillators, 20th International Workshop on Robotics in Alpe-Adria-Danube Region, October 5-7, 2011, Brno, Czech Republic, RAAD 2011, 2011, str. 96-101. [More]
  • Petrič T., Gams A., Tomšič M., Žlajpah L., Control of rhythmic robotic movements through synchronization with human muscle activity, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, May 9-13, 2011, Shanghai, China, Proceedings, 2011, str. 2172-2177. [More]
  • Gams A., Petrič T., Babič J., Žlajpah L., Ude A., Constraining movement imitation with reflexive behavior : robot squatting, 2011 11th IEEE-RAS International Conference on Humanoid Robots, October 26 - 28, 2011, Bled, Slovenia, Humanoids 2011, 2011, str. 294-299. [More]

Inbook

  • Gams A., Nemec B., Petrič T., Ude A., Advances in robot kinematics, Coupling of trajectories for human-robot cooperative tasks, 2014, str. 537-544. [More]
  • 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]
  • Žlajpah L., Petrič T., Serial and parallel robot manipulators - kinematics, dynamics, control and optimization, Obstacle avoidance for redundant manipulators as control problem, 2012, str. 203-230. [More]

Misc

  • Petrič T., Xsens MTi/MTi-G driver for Matlab/Simulink and XPC Target, 2011. [More]
  • Petrič T., Phantom Omni driver for Matlab/Simulink, 2009. [More]