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Dan O Popa

9 accepted papers

2025

Adaptive User Interface With Parallel Neural Networks for Robot Teleoperation

Payman Sharafianardakani, Mohamed A. Hanafy, Irina Kondaurova, Ali Ashary, Madan Mohan Rayguru, Dan O. Popa
RA-L 2025

In recent years, human-robot interaction (HRI) has become an increasingly important field of research. The human experience during HRI tasks like teleoperation or turn-taking largely depends on the interface design between the robot and the user. Designing an intuitive user interface (UI) between an

Cited by 4Source ↗Scholar ↗
2025

Personalized Speech Emotion Recognition in Human-Robot Interaction Using Vision Transformers

Ruchik Mishra, Andrew Frye, Madan Mohan Rayguru, Dan O. Popa
RA-L 2025

Emotions are an essential element in human verbal communication, therefore it is important to understand individuals' affect during human-robot interaction (HRI). This letter investigates the application of vision transformer models, namely ViT (Vision Transformers) and BEiT (Bidirectional Encoder R

Cited by 4Source ↗Scholar ↗
2023

Neuro-Adaptive Dynamic Control with Edge-Computing for Collaborative Digital Twin of an Industrial Robotic Manipulator

Sumit Kumar Das, Mohammad Helal Uddin, Dan O. Popa, Sabur Baidya
ICRA 2023poster

With the advancement of industrial manufacturing and an increase in introduction of robots in the workspace, the need of safe operation, communication and information sharing is paramount. The work presented here focuses on cyber-physical system integration through Digital Twin (DT) technology. Our…

Cited by 7Source ↗Scholar ↗
2022

AMI: Adaptive Motion Imitation Algorithm Based on Deep Reinforcement Learning

Nazita Taghavi, Moath H. A. Alqatamin, Dan O. Popa
ICRA 2022poster

In this paper, we develop a novel adaptive motion imitation algorithm (AMI) for robotic systems. Although AMI can be used in a variety of human-robot interaction scenarios, we are particularly interested in robotic rehabilitation where the robot plays the role of demonstrating and practicing challen…

Cited by 4Source ↗Scholar ↗
2022

Dynamic-GAN: Learning Spatial-Temporal Attention for Dynamic Object Removal in Feature Dense Environments

Christopher M Trombley, Sumit Kumar Das, Dan O Popa
IROS 2022poster

This paper presents an attention-based, deep learning framework that converts robot camera frames with dynamic content into static frames to more easily apply simultaneous localization and mapping (SLAM) algorithms. The vast majority of SLAM methods have difficulty in the presence of dynamic objects…

Cited by 3Source ↗Scholar ↗
2021

Online Dynamic Time Warping Algorithm for Human-Robot Imitation

Nazita Taghavi, Jacob Berdichevsky, Namrata Balakrishnan, Karla C. Welch, Sumit Kumar Das, Dan O. Popa
ICRA 2021poster

In this paper, we propose a novel online algorithm for motion similarity measurements during human-robot interaction (HRI). Specifically, we formulate a Segment-based Online Dynamic Time Warping (SODTW) algorithm that can be used for understanding of repeated and cyclic human motions, in the context…

Cited by 8Source ↗Scholar ↗
2019

ChevBot – An Untethered Microrobot Powered by Laser for Microfactory Applications

Ruoshi Zhang, Andriy Sherehiy, Zhong Yang, Danming Wei, Cindy K. Harnett, Dan O. Popa
ICRA 2019poster

In this paper, we introduce a new class of submillimeter robot (ChevBot) for microfactory applications in dry environments, powered by a 532 nm laser beam. ChevBot is an untethered microrobot propelled by a thermal Micro Electro Mechanical (MEMS) actuator upon exposure to the laser light. Novel mode…

Cited by 24Source ↗Scholar ↗
2018

A Study on Optimal Placement of Accelerometers for Pose Estimation of a Robot Arm

Indika B. Wijayasinghe, Mohammad Nasser Saadatzi, Shamsudeen Abubakar, Dan O. Popa
ICRA 2018poster

This study investigates the effects of inertial sensor placement and noise characteristics on the accuracy of robot pose estimation. Of course, most robots are equipped with joint angle encoders for pose estimation and end-effector positioning. However, in some situations, it's not possible or not d…

Cited by 7Source ↗Scholar ↗
2015

Intent aware adaptive admittance control for physical Human-Robot Interaction

Isura Ranatunga, Sven Cremer, Dan O. Popa, Frank L. Lewis
ICRA 2015poster

Effective physical Human-Robot Interaction (pHRI) needs to account for variable human dynamics and also predict human intent. Recently, there has been a lot of progress in adaptive impedance and admittance control for human-robot interaction. Not as many contributions have been reported on online ad…

Cited by 59Source ↗Scholar ↗