Odsek za avtomatiko, biokibernetiko in robotiko





Tadej Petrič

Naziv: Raziskovalec
Vloga: Raziskovalec
Telefon: 01 477 31 40
Naslov elektronske pošte: tadej.petric [at] ijs.si

Življenjepis

Tadej Petrič je diplomiral leta 2008 na Fakulteti za Elektrotehniko, Računalništvo in Informatiko na Univerzi v Mariboru. V njegovi diplomi je bilo zajeto modeliranje in vodenje podaktuiranih dinamičnih sistemov. Za njegovo diplomsko delo je leta 2008 prejel nagrado prof. dr. Vratislav Bedjaniča.

 

Raziskave za svoj doktorat je opravljal na Odseku za avtomatiko, biokibernetiko in robotiko na Institutu "Jožef Stefan", kjer je zaposlen že od diplome. Doktoriral je leta 2013 na Fakulteti za Elektrotehniko na Univerzi v Ljubljani. Del svojega doktorata je opravil tudi pri skupini Department of Robotic Systems for Dynamic Control of Legged Humanoid Robots na German Aerospace Center (DLR) v Nemčiji.

 

Njegovo raziskovalno področje zajema preučevanje gibanja robotov na človeku podoben način ter predvsem vodenje dinamičnih sistemov (Video).

Raziskovalne aktivnosti

Refleksna stabilnost robota smučarja
Vodenje periodičnih robotskih nalog s klasičnimi pristopi vodenja
Dvonivojski sistem posnemanja periodičnega gibanja
Vodenje ritmičnih nalog z uporabo dvonivojskega sistema
Robot smučar

Izbrane publikacije

Članek v reviji

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

Konferenčna objava

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

Poglavje v knjigi

  • Gams A., Nemec B., Petrič T., Ude A., Advances in robot kinematics, Coupling of trajectories for human-robot cooperative tasks, 2014, str. 537-544. [Več]
  • 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]
  • 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. [Več]

Razno

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