1 citations · 1 across the 5 of their papers we have counts for
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Leveraging Inter-object Affordances for Efficient Planning in Contact-rich Tasks
Pouya P. Niaz, Justus Piater, Alejandro Agostini
Traditional task-and-motion planning (TAMP) approaches primarily focus on defining sequences of actions along with the necessary geometric and kinematic constraints to execute long…
Estimating Human Muscular Fatigue in Dynamic Collaborative Robotic Tasks with Learning-Based Models
Feras Kiki, Pouya P. Niaz, Alireza Madani +1
Assessing human muscle fatigue is critical for optimizing performance and safety in physical human-robot interaction(pHRI). This work presents a data-driven framework to estimate f…
Efficient and Safe Contact-rich pHRI via Subtask Detection and Motion Estimation using Deep Learning
Pouya P. Niaz, Engin Erzin, Cagatay Basdogan
This paper proposes an adaptive admittance controller for improving efficiency and safety in physical human-robot interaction (pHRI) tasks in small-batch manufacturing that involve…
Robot-Assisted Drilling on Curved Surfaces with Haptic Guidance under Adaptive Admittance Control
Alireza Madani, Pouya P. Niaz, Berk Guler +2
Drilling a hole on a curved surface with a desired angle is prone to failure when done manually, due to the difficulties in drill alignment and also inherent instabilities of the t…
An adaptive admittance controller for collaborative drilling with a robot based on subtask classification via deep learning
Berk Guler, Pouya P. Niaz, Alireza Madani +2
In this paper, we propose a supervised learning approach based on an Artificial Neural Network (ANN) model for real-time classification of subtasks in a physical human-robot intera…