Research Description

Collaborative Human-focused, Assistive Robotics for Manufacturing (CHARM)

CHARM is a large multi-disciplinary, multi-institutional project in collaboration with General Motors of Canada (GM), which aims to advance safe human-robot interaction (HRI) in vehicle manufacturing industries. We investigate (1) robotic technology development: communication, control, and perception; and (2) system design methodology: interaction design, information coordination (situational awareness), and integration.

In CHARM, I Initiate and conduct collaborative research on human-robot interaction design with other members of the team, manage documentation and reporting, and coordinate project between UBC and the rest of the CHARM team.

Publications

Refereed Conference Papers
1. A. Haddadi, E.A. Croft, B.T. Gleeson, K. MacLean, J. A. Alcazar, “Analysis of Task-Based Gestures in Human-Robot Interaction”, Proceedings of the IEEE/ACM International Conference on Robotics and Automation (ICRA’13), Accepted, 2013.

2. B.T. Gleeson, K. MacLean, A. Haddadi, E.A. Croft, J. A. Alcazar, “Gestures for Industry: Intuitive Human-Robot Communication from Human Observation”, Proceedings of the IEEE/ACM International Conference on Human Robot Interaction (HRI’13) Accepted, 2013.

3. E. Calisgan, A. Haddadi, H.F.M. Van der Loos, J. A. Alcazar, E.A. Croft, “Identifying Nonverbal Cues for Automated Human-Robot Turn-taking,”, Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man’12), pp.418-423, 2012.

4. Ankur Gupta, Wesley P. Chan, Daniel Troniak, Ergun Calisgan, Parnian Alimi, Amir Haddadi, Koosha Khalvati, Sina Radmard, Nathan Tomer, “PR2 Rides the Elevator. AAAI’12 AI and Robotics Multimedia Fair. 2012.

5. A. Haddadi and K. Hashtrudi-Zaad, “Development of a Dynamic Model for Bevel-tip Flexible Needle Insertion into Soft Tissues”, Proceedings of the International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’11), Boston, MA, pp. 7478-7482,2011.

6. A. Haddadi, O. Goksel, S.E. Salcudean, and K. Hashtrudi-Zaad, “On the Controllability of Dynamic Model-Based Needle Insertion in Soft Tissue”, in Proceedings of the International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’10), Buenos Aires, Argentina, pp. 2287-2291, 2010.

7. A. Haddadi and K. Hashtrudi-Zaad, “Stability Analysis of Haptic Interfaces for Di fferent Types of Sampled Signals and Virtual Environment Implementations”, in Proceedings of the Haptic Symposium Conference, Waltham, Massachusetts, USA, pp. 293-299, 2010.

8. A. Haddadi and K. Hashtrudi-Zaad, “Least Conservative Robust Stability Condition For Bilateral Teleoperation Control Systems”, in Proceedings of the IEEE World Haptics Conference, Salt Lake City, UT, USA, pp. 220 – 225, 2009.

9. A. Haddadi and K. Hashtrudi-Zaad, “Delay-Robust Transparent Bilateral Teleoperation Control Design”, in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’08), Nice, France, pp. 438 -444, 2008.

10. A. Haddadi and K. Hashtrudi-Zaad, “A New Method for Online Parameter Estimation of Hunt-Crossley Environment Dynamic Models”, in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’08), Nice, France, pp. 981 – 986, 2008.

11. A. Haddadi and K. Hashtrudi-Zaad, “Online Contact Impedance Identi cation for Robotic Systems”, in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’08), Nice, France, pp. 974 – 980, 2008.

12. A. Haddadi and K. Hashtrudi-Zaad, “A New Robust Stability Analysis and Design Tool for Bilateral Teleoperation Control Systems”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA’08), Pasadena, California, USA, pp. 663 – 670, 2008.

13. A. Haddadi and K. Hashtrudi-Zaad, “A New Fast Online Identi cation Method for Linear Time-Varying Systems”, in Proceedings of the American Control Conference (ACC’08), Seattle, Washington, USA, pp. 1322 – 1328, 2008.

14. A. Haddadi and A. Yazdanpanah, “Robust Controller Synthesis for the Coupled Mass Benchmark Problem”, in Proceedings of the IEEE Conference on Electronics, Circuits and Systems, pp. 75-79, 2005.

Published Journal Articles

15. A. Haddadi and K. Hashtrudi-Zaad, “Robust Stability of Teleoperation Systems with Time Delay: A New Approach”, IEEE Transactions on Haptics, Accepted for Publication, 2012.

16. A. Haddadi and K. Hashtrudi-Zaad, “Real-Time Identification of Hunt–Crossley Dynamic Models of Contact Environments”, IEEE Transactions on Robotics, vol. 28, no. 3, pp. 555-566, 2012.

17. A. Haddadi and K. Hashtrudi-Zaad, “Bounded-Impedance Absolute Stability of Bilateral Teleoperation Control Systems”, IEEE Transactions on Haptics, vol. 3, no. 1, pp. 15-27, 2010. Featured on issue cover. Among the top accessed articles/most-cited papers of the IEEE TOH within the past 5 years.

Contact Details

UBC- ICICS

a place of mind, The University of British Columbia

Faculty of Applied Science
5000 - 2332 Main Mall,
Vancouver, BC, V6T 1Z4, Canada
Tel: 604.822.6413
Email:
CARIS Lab
Department of Mechanical Engineering, UBC,
Vancouver, BC, Canada
Tel: 604.822.3147
Fax: 604.822.2403
See contact page for addresses.

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