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Author

B. Šekoranja

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2 papers indexed here

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Conference Aug 2026

From Torque Estimation to Physical Human-Robot Interaction: the Role of Direction-Dependent Friction

Accurate force regulation is critical in physical human-robot interaction (pHRI), where even small force overshoots can lead to discomfort or unsafe contact. This paper presents the identification and validation of symmetric and asymmetric linear friction models and investigates how these modeling choices affect intera...

Tara Knežević, J. Kasać, F. Šuligoj et al. · 0 citations
Preprint Sep 2026

Observability Analysis and Online Calibration of Visual-Inertial-Wheel Odometry for 4WIS4WID Mobile Robots

In this paper, we present a visual-inertial-wheel odometry (VIWO) framework with online calibration for four-wheel independently steered and driven (4WIS4WID) mobile robots. We derive a 2D odometry model directly from the four driving velocities and steering angles, using both the longitudinal rolling constraints and t...

Branimir Ćaran, Vladimir Milić, B. Šekoranja et al. · 0 citations

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