Luka Peternel
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Achieving Meaningful Collaboration: Worker-centered Design of a Physical Human-Robot Collaborative Blending Task Open
The use of robots in industrial settings continues to grow, driven by the need to address complex societal challenges such as labor shortages, aging populations, and ever-increasing production demands. In this abstract, we advocate for (an…
Robotic Skill Diversification via Active Mutation of Reward Functions in Reinforcement Learning During a Liquid Pouring Task Open
This paper explores how deliberate mutations of reward function in reinforcement learning can produce diversified skill variations in robotic manipulation tasks, examined with a liquid pouring use case. To this end, we developed a new rewa…
Autonomous navigation of quadrupeds using coverage path planning with morphological skeleton maps Open
This article proposes a novel method of coverage path planning for the purpose of scanning an unstructured environment autonomously. The method uses the morphological skeleton of a prior 2D navigation map via SLAM to generate a sequence of…
Enhancing supermarket robot interaction: an equitable multi-level LLM conversational interface for handling diverse customer intents Open
This paper presents the design and evaluation of a comprehensive system to develop voice-based interfaces to support users in supermarkets. These interfaces enable shoppers to convey their needs through both generic and specific queries. A…
View article: Planning Human-Robot Co-Manipulation With Human Motor Control Objectives and Multi-Component Reaching Strategies
Planning Human-Robot Co-Manipulation With Human Motor Control Objectives and Multi-Component Reaching Strategies Open
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Augmenting visual feedback with visualized interaction forces in haptic-assisted virtual-reality teleoperation Open
In recent years, providing additional visual feedback about the interaction forces has been found to offer benefits to haptic-assisted teleoperation. However, there is limited insight into the effects of the design of force feedback-relate…
View article: Planning Human-Robot Co-manipulation with Human Motor Control Objectives and Multi-component Reaching Strategies
Planning Human-Robot Co-manipulation with Human Motor Control Objectives and Multi-component Reaching Strategies Open
For successful goal-directed human-robot interaction, the robot should adapt to the intentions and actions of the collaborating human. This can be supported by musculoskeletal or data-driven human models, where the former are limited to lo…
Biomechanics-Aware Trajectory Optimization for Online Navigation during Robotic Physiotherapy Open
Robotic devices provide a great opportunity to assist in delivering physical therapy and rehabilitation movements, yet current robot-assisted methods struggle to incorporate biomechanical metrics essential for safe and effective therapy. W…
View article: Learning periodic skills for robotic manipulation: Insights on orientation and impedance
Learning periodic skills for robotic manipulation: Insights on orientation and impedance Open
Many daily tasks exhibit a periodic nature, necessitating that robots possess the ability to execute them either alone or in collaboration with humans. A widely used approach to encode and learn such periodic patterns from human demonstrat…
Enhancing Supermarket Robot Interaction: A Multi-Level LLM Conversational Interface for Handling Diverse Customer Intents Open
This paper presents the design and evaluation of a novel multi-level LLM interface for supermarket robots to assist customers. The proposed interface allows customers to convey their needs through both generic and specific queries. While s…
View article: The Effects of Different Motor Teaching Strategies on Learning a Complex Motor Task
The Effects of Different Motor Teaching Strategies on Learning a Complex Motor Task Open
During the learning of a new sensorimotor task, individuals are usually provided with instructional stimuli and relevant information about the target task. The inclusion of haptic devices in the study of this kind of learning has greatly h…
Does enforcing glenohumeral joint stability matter? A new rapid muscle redundancy solver highlights the importance of non-superficial shoulder muscles Open
The complexity of the human shoulder girdle enables the large mobility of the upper extremity, but also introduces instability of the glenohumeral (GH) joint. Shoulder movements are generated by coordinating large superficial and deeper st…
Orbital Head-Mounted Display: A Novel Interface for Viewpoint Control during Robot Teleoperation in Cluttered Environments Open
Robotic teleoperation is used in various applications, including the nuclear industry, where the experience and intelligence of a human operator are necessary for making complex decisions that are beyond the autonomy of robots. Human-robot…
Dynamic movement primitives in robotics: A tutorial survey Open
Biological systems, including human beings, have the innate ability to perform complex tasks in a versatile and agile manner. Researchers in sensorimotor control have aimed to comprehend and formally define this innate characteristic. The …
Robotic Skill Mutation in Robot-to-Robot Propagation During a Physically Collaborative Sawing Task Open
Skill propagation among robots without human involvement can be crucial in quickly spreading new physical skills to many robots. In this respect, it is a good alternative to pure reinforcement learning, which can be time-consuming, or lear…
Interactive Imitation Learning of Bimanual Movement Primitives Open
Performing bimanual tasks with dual robotic setups can drastically increase the impact on industrial and daily life applications. However, performing a bimanual task brings many challenges, such as synchronization and coordination of the s…
Human Modeling in Physical Human-Robot Interaction: A Brief Survey Open
The advancement and development of human modeling have greatly benefited from principles used in robotics, for instance, multibody dynamics laid the foundations for physics engines of human movement simulation, and the robotics and control…
Does enforcing glenohumeral joint stability matter? A new rapid muscle redundancy solver highlights the importance of non-superficial shoulder muscles Open
The complexity of the human shoulder girdle enables the large mobility of the upper extremity, but also introduces instability of the glenohumeral (GH) joint. Shoulder movements are generated by coordinating large superficial and deeper st…
An Incremental Inverse Reinforcement Learning Approach for Motion Planning with Separated Path and Velocity Preferences Open
Humans often demonstrate diverse behaviors due to their personal preferences, for instance, related to their individual execution style or personal margin for safety. In this paper, we consider the problem of integrating both path and velo…
An Incremental Inverse Reinforcement Learning Approach for Motion Planning with Separated Path and Velocity Preferences Open
Humans often demonstrate diverse behaviors due to their personal preferences, for instance, related to their individual execution style or personal margin for safety. In this paper, we consider the problem of integrating both path and velo…
Enabling Patient- and Teleoperator-led Robotic Physiotherapy via Strain Map Segmentation and Shared-authority Open
In this work, we propose a method for monitoring and managing rotator-cuff (RC) tendon strains in human-robot collaborative physical therapy for shoulder rehabilitation. We integrate a high-resolution biomechanical model with a collaborati…
Interactive Imitation Learning of Bimanual Movement Primitives Open
Performing bimanual tasks with dual robotic setups can drastically increase the impact on industrial and daily life applications. However, performing a bimanual task brings many challenges, like synchronization and coordination of the sing…
Foot-operated Tele-impedance Interface for Robot Manipulation Tasks in Interaction with Unpredictable Environments Open
Tele-impedance increases interaction performance between a robotic tool and unstructured/unpredictable en-vironments during teleoperation. However, the existing tele-impedance interfaces have several ongoing issues, such as long calibratio…
Arbitration of Authority in Physical Human-Robot Collaboration with Combined Preventive and Reactive Fatigue Management Open
We present a method for arbitration between human and robot involvement in a collaborative physical task execution based on ergonomic metrics. The existing methods for ergonomic control of physical human-robot collaboration perform the rea…
Model Predictive Impedance Control with Gaussian Processes for Human and Environment Interaction Open
Robotic tasks which involve uncertainty--due to variation in goal, environment configuration, or confidence in task model--may require human input to instruct or adapt the robot. In tasks with physical contact, several existing methods for…