Milutin Nikolić

Milutin Nikolić
University of Novi Sad · Department of Industrial Engineering and Engineering Management

PhD

About

48
Publications
16,392
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228
Citations
Additional affiliations
September 2008 - July 2015
University of Novi Sad
Position
  • Research Assistant

Publications

Publications (48)
Article
Full-text available
The main indicator of dynamic balance is the \(\mathit{ZMP}\). Its original notion assumes that both feet of the robot are in contact with the flat horizontal surface (all contacts are in the same plane) and that the friction is high enough so that sliding does not occur. With increasing capabilities of humanoid robots and the higher complexity of...
Article
Full-text available
Starting from the operational space and task prioritization framework, presented in [L. Sentis and O. Khatib, Task-oriented control of humanoid robots through prioritization, in Proc. IEEE-Robotics and Autonomous Systems/RSJ International Conf. Humanoid Robots, Santa Monica, CA, USA, November 2004.], this paper proposes an extension and improvement...
Article
It is expected that the humanoid robots of the near future will "live" and work in a common environment with humans, which imposes the requirement that their operative efficiency ought to be close to that of humans. The main prerequisite to achieve this is to ensure the robot's efficient motion, which is its ability to compensate for the ever-prese...
Conference Paper
Full-text available
This paper presents a novel method for kinesthetic teaching of highly redundant robots. The proposed method is based on a task-oriented control through task prioritization which exploits system redundancy to enable robot to perform multiple tasks in parallel, where secondary tasks are handled without interfering with the primary ones. The proposed...
Article
Full-text available
Effective and efficient motion of humanoid robots in unstructured dynamic environments is a prerequisite for their activity in the living and working environment of humans. Motion in such environments has to be adjusted all the time to suit the current conditions. This paper presents a method for the synthesis and realization of the biped robot mot...
Chapter
In this paper we present the development of a robot designed as an assistive technology in therapy of children suffering from developmental disorders, tested on example of cerebral palsy. To achieve desired results the therapy should start as early as possible and it should be as intensive as possible. However, the therapeutic exercises are tiresom...
Article
In this paper, we propose a method of generating action description and detecting certain combination plays observed in volleyball games. Motions are represented as motion symbols with lower dimensions, and positions of the ball at each time are obtained. These motion symbols and ball positions are used to detect and describe motions. In detecting...
Article
Full-text available
The focus of research in biped locomotion has moved toward real-life scenario applications, like walking on uneven terrain, passing through doors, climbing stairs and ladders. As a result, we are witnessing significant advances in the locomotion of biped robots, enabling them to move in hazardous environments while simultaneously accomplishing comp...
Article
Full-text available
This study presents quantitative and qualitative insights into the analysis of data obtained by tracking the motion of reflective markers arranged along the trunk of a pole-like potted tree, which was recorded by a state-of-the-art infrared motion-tracking system. The experimental results showed in-plane damped trajectories of the markers with late...
Conference Paper
Full-text available
The paper describes the prototype of a novel embedded 3-axis force sensor which is intended to be used for detecting and measuring the contact forces at the fingertips of a robotic hand when grasping and manipulating objects. The sensor is composed of three main parts: a printed circuit board with Hall effect sensors, a neodymium magnet and a elast...
Article
Full-text available
In this paper a novel methodology is proposed for digital workflow and fabrication of a freeform shell made from foam materials utilizing a robot hot-wire cutting tool. The major issues of using freeform foam structures pertain to building complex shape constructions in contemporary architecture and fabrication of structural, insulated panels for d...
Conference Paper
Humans can reliably walk in dynamic unstruc-tured environments, simultaneously handling stairs and obstacles , and transition from one walking pattern to another, in a unified and apparently " effortless " manner. The ability of robots to move in a human-centric environment, with the skills comparable to those of humans, is a key factor for the nex...
Conference Paper
The scientific community working on the effects of excitations on trees is quite diverse: from botany and forestry to meteorology and biomimetics. From a mechanical point of view, trees have been recognized as blurring the boundary between a structure, material and mechanism. As such, they represent inspiring concept generators for improved or inno...
Conference Paper
Humanoid robots are the most illustrative representatives of complex cyber-physical systems. They are highdimensional and highly coupled non-linear systems. Moreover, walking humanoid robots are underactuated with friction-limited unilateral contacts with the ground. These facts justify the need for hard real-time control of a robot’s motion. Even...
Article
Full-text available
Planning of any motion starts by planning the trajectory of the CoM. It is of the highest importance to ensure that the robot will be able to perform planned trajectory. With increasing capabilities of the humanoid robots, the case when contacts are spatially distributed should be considered. In this paper, it is shown that there are some contact c...
Conference Paper
Experimental investigations of the dynamic response of potted trees were carried out by using the Vicon 3D motion capture system, which is a leading state-of-the-art infrared marker-tracking system. Reflective markers were arranged along the trunk of a young trunk-dominated tree (Aesculus hippocastanum) and along the trunk and branches of a young b...
Conference Paper
Full-text available
In this paper the design of an underactuated anthropomorphic robotic hand is presented. The hand is highly-underactuated and passively adaptive to the shape of an object, due to a tendon-driven mechanism and torsional spring in each finger joint. Each of five fingers has three DOFs (Degrees Of Freedom), except the thumb which has an additional DOF,...
Chapter
It is expected that the humanoid robots of the near future will ‘live’ and work in a common environment with humans. This imposes the requirement that their operational efficiency ought to be close to that of men. The main prerequisite to achieve this is to ensure the robot’s efficient motion that is its ability to compensate for the ever-present d...
Chapter
Full-text available
Actual research in the field of robot-supported therapy is dominantly oriented on systems for clinical neurorehabilitation of motor disorders and therapy of difficulties related to autism. However, very little attention is dedicated to the functional development of the therapeutic robot, which would be capable of participating, actively and intelli...
Article
Full-text available
This paper presents a framework for leader-follower type cooperative transportation of an object by multiple humanoid robots or a single robot and a human. The emphasis in this paper is on the hybrid control algorithm and motion generation of the follower robot, while the influence of the leader has been simulated as external force acting on the fo...
Article
The paper aims to examine children's preference of visual appearance and parents' attitudes towards assistive robots. Results show that children do prefer visual appearances of robots with round and smooth edges, compact and stocky body and with feminine characteristics. Gender differences have been found in robot sketch preference, as well as in a...
Article
Full-text available
This paper discusses a way of simulating of foot-ground contact for bipedal robots. For walking robots the most fundamental issue is maintaining contact between the foot and the ground. During simulation, the most common approach is to assume rigid contact between the foot and the ground. However this kind of contact cannot model sliding, foot rota...
Conference Paper
Full-text available
This paper reports on work in progress towards development of a robot to be used as assistive technology in treatment of children with developmental disorders (cerebral palsy). This work integrates two activities. The first one is mechanical device design (humanoid robot) of sufficient capabilities for demonstration of therapeutical exercises for h...
Conference Paper
Full-text available
Agile and robust walk of humanoid robots is a prerequisite for their broad applications in human's everyday life and their activity in the unstructured environment. In this paper a new framework for biped motion synthesis is described. The framework is based on use of simple movements (primitives) which are combined in order to obtain more complex...
Conference Paper
Full-text available
This paper deals with the problem of non synchronicity during the on-line realization of humanoid walk synthesized by combining and tying motion primitives. Motion primitives are simple and parameterized movements. For realization of the on-line modifiable walk, relationship is established between the gait characteristics and the pa-rameters of the...
Conference Paper
Full-text available
Effective and efficient motion of humanoid robots is a prerequisite for their activity in the unstructured environment. It is of great importance to enable the walk on uneven ground surface. This work presents a method for the synthesis and realization of the online modifiable robot walk that is adjustable to the partially unknown configuration of...
Conference Paper
Full-text available
This paper presents the application of Support Vec-tor Machine regression (SVR) for realization of the robot arm reaching task. Robot arm with 4 DOFs (Degrees Of Freedom) was used in simulation for solving trajectory tracking problem. Only position of the target point was defined, not the orientation, so the system had one redundant DOF for the con...
Article
Full-text available
Like humans, bipedal robots can easily fall on slippery and low-friction surfaces. In order to avoid costly breakdowns, fall avoidance is of major importance. Recently reported generalized task-prioritization framework enables us to impose dynamical inequality constraints on the robot motion, which we used to create quasi-static walk using task pri...
Conference Paper
Full-text available
This paper presents the design of the system of the anthropomorphic robotic eyes (mechanical design, electronics and control). During the head movements, humans do not move both eyeballs in the same manner. Therefore, to achieve the natural motion (and appearance) of the eyes, each eye is designed as a separate mechanism. Each eye (the eyeball and...
Conference Paper
Full-text available
This paper deals with the problem of synthesis of bipedal walking and motion control of the robot having in mind requirements for the motion in unstructured environment such as living and working environment of man. The walk is synthesized by combining and tying basic parameterized movements, called motion primitives. To enable on-line modification...
Conference Paper
Full-text available
This paper presents the problem of simultaneous motion control of multi-segment spine and dual arm robot. Firstly, the mechanical design of SARA robot (Socially Acceptable Robot Assistant) is described. SARA is designed to have a spine with 6 degrees of freedom (DOFs) and two arms with 7 DOFs each. The proposed mechanical design ensures good mobili...
Conference Paper
Modern demands for more flexibility in automation processes claim intuitive methods of operating technical devices. Industrial robots are often used for mass-production as the complex and time-consuming programming is not economic when considering small lot sizes. An intuitive way for manipulating an industrial robot helps in reaching profitability...
Conference Paper
Full-text available
This paper reports and discusses an implementation of a cognitively-inspired and computationally appropriate linguistic encoding of motion events in human-robot dialogue. The proposed encoding is based on a schematic system of attention in spatial language and the conceptualization of the two fundamental cognitive functions in language – i.e., the...
Article
Full-text available
The paper reports a solution for the integration of the industrial robot ABB IRB140 with the system for automatic speech recognition (ASR) and the system for computer vision. The robot has the task to manipulate the objects placed randomly on a pad lying on a table, and the computer vision system has to recognize their characteristics (shape, dimen...
Chapter
Full-text available
In this work is demonstrated the possibility of using primitives to generate complex movements that ensure motion of bipedal humanoid robots in unstructured environments. It is pointed out that for the robot’s motion in an unstructured environment an on-line generation of motion is required. Generation of motion by using primitives represents super...
Conference Paper
Full-text available
This paper reports a spoken natural language dialogue system that manages the interaction between the user and the industrial robot ABB IRB 140. To the extent that the dialogue system is multimodal, it uses three communication modalities: (i) spoken language (automatic speech recognition and text-to-speech synthesis), (ii) visual recognition of the...
Conference Paper
Full-text available
The paper describes the simulation software for preview of the motion of humanoid robot: either graphical in 3D environment or on the real robot (KHR-1 HV was used). Such software enable synthesis (both, online and offline) and execution of humanoid movements. Execution can be performed either on the 3D model or on the real robot. Such software bri...
Conference Paper
Full-text available
U radu je prikazano rešenje u kome su integrisani industrijski robot ABB IRB140 sa sistemom za prepoznavanje govora i sistemom za digitalnu obradu slike. Zadatak robota je da vrši manipulaciju predmetima koji se nalaze na radnom stolu. Predmeti su nasumično postavljeni po stolu isistem za obradu slike ima zadatak da prepoznanjihove karakteristike...
Conference Paper
Full-text available
A novel approach for the realization of the humanoid robot’s reaching task using Support Vector Machine (SVM) is proposed. The main difficulty is how to ensure an appropriate SVM training data set. Control law is firstly devised, and SVM is trained to calculate driving torques according to control law. For purpose of training SVM, sufficiently dens...
Article
Full-text available
The objective of this work is to demonstrate the possibility of using primitives for on-line generation of complex movements that ensure motion of bipedal humanoid robots in unstructured environment where on-line generation of motion is required. Primitives represent simple movements that are either reflex or learned. Each primitive has its paramet...
Conference Paper
Full-text available
The objective of this work is to demonstrate the possibility of using primitives to generate complex movements that ensure motion of bipedal humanoid robots. Primitives represent simple movements that are either reflex or learned. Each primitive has its parameters and constraints that are determined on the basis of the movements capable of performi...
Article
Full-text available
This paper analyzes the approximation of human movement which preserves dynamic balance under perturbations using Support Vector Machine (SVM) regression. The quality of approximation was evaluated by two criteria. The first one is deviation of approximated motion from the recorded one, while the other criteria is position of the Zero Moment Point...

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Projects

Projects (3)
Project
General research in the area of humanoid robotics with a significant focus on biped locomotion.
Project
The aim of this project is to develop an assistive technology aid to improve the work with children with developmental disorders (impaired motor and disharmonious development, cerebral palsy, hearing and emotional disorders, etc.). The main goal of the application of these means of assistive technology is to ensure long-lasting motivation for acquiring new skills, the creation of the conditions for an easier application of treatment procedures, and achieving faster treatment effects. The intention is to take advantage of the child's existing capabilities with the aim of developing its maximum potentials through play and entertainment. The application areas are mastering of basic life skills, communication, visual, auditory and tactile reception of information, cognitive abilities, social interactions, mobility, and child's emotional functioning. Although such attempt is a pioneering one, we think that previous (though rudimentary) experiences in the development and application of such kind of robots in contact with children are encouraging. In the future, such robots could be used by all those who are involved in child care (parents, therapeutists, teachers) аnd not only by specially trained staff. Robots would offer the possibility to use a novel way to stimulate the child's development and we think it is justifiable to include them among the dedicated assistive technologies.
Project
The project goal is to realize the prototype of underactuated anthropomorphic robotic hand that can be used as a platform for further research in the area of intelligent sensing, control, grasping, and manipulation. The robotic hand will also be able to be used as an end-effector on different humanoids and industrial robotic arms.