Jožef Stefan Institute

About: Jožef Stefan Institute is a facility organization based out in Ljubljana, Slovenia. It is known for research contribution in the topics: Liquid crystal & Dielectric. The organization has 3828 authors who have published 12614 publications receiving 291025 citations.

Co-Doped ZnO nanoparticles: Minireview

Abstract: Diluted magnetic semiconductors with a Curie temperature exceeding 300 K are promising candidates for spintronic devices and spin-based electronic technologies We review recent achievements in the field of one of them: Co-doped ZnO at the nanoparticulate scale

Adaptation of manipulation skills in physical contact with the environment to reference force profiles

Abstract: We propose a new methodology for learning and adaption of manipulation skills that involve physical contact with the environment. Pure position control is unsuitable for such tasks because even small errors in the desired trajectory can cause significant deviations from the desired forces and torques. The proposed algorithm takes a reference Cartesian trajectory and force/torque profile as input and adapts the movement so that the resulting forces and torques match the reference profiles. The learning algorithm is based on dynamic movement primitives and quaternion representation of orientation, which provide a mathematical machinery for efficient and stable adaptation. Experimentally we show that the robot's performance can be significantly improved within a few iteration steps, compensating for vision and other errors that might arise during the execution of the task. We also show that our methodology is suitable both for robots with admittance and for robots with impedance control.