1.

Reflexive stability control framework for humanoid robots

In this paper we propose a general control framework for ensuring stability of humanoid robots, determined through a normalized zero-moment-point (ZMP). The proposed method is based on the modified prioritized kinematic control, which allows smooth and continuous transition between priorities. This, as long as the selected criterion is met, allows arbitrary joint movement of a robot without any regard of the consequential movement of the ZMP. On the other hand, it constrains the movement when the criterion approaches a critical condition. The critical condition thus triggers a reflexive, subconscious behavior, which has a higher priority than the desired, conscious movement. The transition between the two is smooth and reversible. Furthermore, the switching is encapsulated in a single modified prioritized task control equation.We demonstrate the properties of the algorithm on two human-inspired robots developed in our laboratory; a human-inspired leg-robot used for imitating human movement and a skiing robot.

COBISS.SI-ID: 26618919

2.

Effects of robotic knee exoskeleton on human energy expenditure

This paper compares the energy expenditure of conducting a squat exercise with and without an exoskeleton, in terms of oxygen uptake and heart rate.

COBISS.SI-ID: 26507815

3.

Integrating visual perception and manipulation for autonomous learning of object representations

Humans can effortlessly perceive an object they encounter for the first time in a possibly cluttered scene and memorize its appearance for later recognition. Such performance is still difficult to achieve with artificial vision systems because it is not clear how to define the concept of objectness in its full generality. In this paper we propose a paradigm that integrates the robot’s manipulation and sensing capabilities to detect a new, previously unknown object and learn its visual appearance. By making use of the robot’s manipulation capabilities and force sensing, we introduce additional information that can be utilized to reliably separate unknown objects from the background and learn its appearance for recognition.

COBISS.SI-ID: 27345447

4.

Peak oxygen uptake and regional oxygenation in response to a 10-day confinement to normobaric hypoxia

This paper describes the effect of a 10 day sojourn in a simulated Lunar habitat on muscle oxygenation during maximal aerobic exercise.

COBISS.SI-ID: 27086631

5.

Prolonged physical inactivity leads to a drop in the toe skin temperature during local cold stress

This paper describes the effect of prolongued inactivity-unloading on the cold-induced vasodilatation response.

COBISS.SI-ID: 27141415