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Information for

Danica Kulic

Associate Professor

Contact InformationDanica Kulic

Phone: 519-888-4567 x37260
Location: E5 5114

Website

Biography Summary

Dana Kulić is an Associate Professor in the Electrical and Computer Engineering department and the Director of the Adaptive Systems Laboratory.

Professor Kulić’s research interests include human motion analysis and human-machine interaction, with applications to imitation learning, humanoid gait, learning control, affective movement and rehabilitation.

The aim of the imitation learning research is to develop algorithms for life-long, incremental learning of human motion patterns for humanoid and other robots. Professor Kulić and her team are developing incremental algorithms for automatically segmenting, clustering and organizing motion pattern primitives, which are observed from human demonstration. These algorithms can be applied to learn human motion for activity recognition during human-robot interaction, progress monitoring during rehabilitation and sports training, or skill transfer for automation.

Research Interests

  • Machine Learning
  • Imitation Learning
  • Incremental Learning
  • Human Motion Analysis
  • Human-robot Interaction
  • Perception Of Human Emotion
  • Human Motion Tracking
  • Mechatronics
  • Mechatronics & Controls
  • Humanoid Robots
  • Robotics
  • Advanced Manufacturing
  • Operational Artificial Intelligence

Education

  • 2005, Doctorate, Mechanical Engineering, University of British Columbia
  • 1998, Bachelor's, Electromechanical Engineering, University of British Columbia
  • 1998, Master's, Electromechanical Engineering, University of British Columbia

Courses

  • ECE 380 - Analog Control Systems
  • ECE 498A - Engineering Design Project
  • ECE 486 - Robot Dynamics and Control
  • BME 353 - Control Systems

Selected/Recent Publications

  • Bonnet, Vincent and Joukov, Vladimir and Kulić, Dana and Fraisse, Philippe and Ramdani, Nacim and Venture, Gentiane, Monitoring of Hip and Knee Joint Angles Using a Single Inertial Measurement Unit During Lower Limb Rehabilitation, IEEE Sensors Journal, 16(6), 2016, 1557 - 1564
  • Lin, Jonathan Feng-Shun and Karg, Michelle and Kulić, Dana, Movement Primitive Segmentation for Human Motion Modeling: A Framework for Analysis, IEEE Transactions on Human-Machine Systems, 46(3), 2016, 325 - 339
  • Lam, Agnes WK and Varona-Marin, Danniel and Li, Yeti and Fergenbaum, Mitchell and Kulić, Dana, Automated rehabilitation system: movement measurement and feedback for patients and physiotherapists in the rehabilitation clinic, Human--Computer Interaction, 31(3-4), 2016, 294 - 334
  • Freeman, Cecille and Kulić, Dana and Basir, Otman, An evaluation of classifier-specific filter measure performance for feature selection, Pattern Recognition, 48(5), 2015, 1812 - 1826
  • Karg, Michelle and Seiberl, Wolfgang and Kreuzpointner, Florian and Haas, Johannes-Peter and Kulić, Dana, Clinical Gait Analysis: Comparing Explicit State Duration HMMs Using a Reference-Based Index, IEEE Transactions on Neural Systems and Rehabilitation Engineering, 23(2), 2015, 319 - 331
  • Gill, Rajan J and Kulić, Dana and Nielsen, Christopher, Spline path following for redundant mechanical systems, IEEE Transactions on Robotics, 31(6), 2015, 1378 - 1392
  • Samadani, Ali-Akbar and Gorbet, Rob and Kulić, Dana, Affective movement recognition based on generative and discriminative stochastic dynamic models, IEEE Transactions on Human-Machine Systems, 44(4), 2014, 454 - 467
  • Lin, Jonathan Feng-Shun and Kulić, Dana, Online segmentation of human motion for automated rehabilitation exercise analysis, IEEE Transactions on Neural Systems and Rehabilitation Engineering, 22(1), 2014, 168 - 180
  • Karg, Michelle and Venture, Gentiane and Hoey, Jesse and Kulić, Dana, Human movement analysis as a measure for fatigue: a hidden Markov-based approach, IEEE Transactions on Neural Systems and Rehabilitation Engineering, 22(3), 2014, 470 - 481
  • Houmanfar, Roshanak and Karg, Michelle and Kulić, Dana, Movement analysis of rehabilitation exercises: Distance metrics for measuring patient progress, , 2014
  • Choudry, Muhammad U and Beach, Tyson AC and Callaghan, Jack P and Kulić, Dana, A stochastic framework for movement strategy identification and analysis, IEEE Transactions on Human-Machine Systems, 43(3), 2013, 314 - 327
  • Karg, Michelle and Samadani, Ali-Akbar and Gorbet, Rob and Kühnlenz, Kolja and Hoey, Jesse and Kulić, Dana, Body movements for affective expression: A survey of automatic recognition and generation, IEEE Transactions on Affective Computing, 4(4), 2013, 341 - 359
  • Samadani, Ali-Akbar and Ghodsi, Ali and Kulić, Dana, Discriminative functional analysis of human movements, Pattern Recognition Letters, 34(15), 2013, 1829 - 1839
  • Samadani, Ali-Akbar and Kubica, Eric and Gorbet, Rob and Kulić, Dana, Perception and generation of affective hand movements, International Journal of Social Robotics, 5(1), 2013, 35 - 51
  • Freeman, Cecille and Kulić, Dana and Basir, Otman, Feature-Selected Tree-Based Classification, IEEE transactions on cybernetics, 43(6), 2013, 1990 - 2004
  • de la Cruz, Joseph Sun and Calisgan, Ergun and Kulić, Dana and Owen, William and Croft, Elizabeth A, On-line dynamic model learning for manipulator control, IFAC Proceedings Volumes, 45(22), 2012, 869 - 874
  • de la Cruz, Joseph Sun and Kulić, Dana and Owen, William, A comparison of classical and learning controllers, IFAC Proceedings Volumes, 44(1), 2011, 1102 - 1107
  • Kulić, Dana and Ott, Christian and Lee, Dongheui and Ishikawa, Junichi and Nakamura, Yoshihiko, Incremental learning of full body motion primitives and their sequencing through human motion observation, The International Journal of Robotics Research, 2011
  • Bartneck, Christoph and Kulić, Dana and Croft, Elizabeth and Zoghbi, Susana, Measurement instruments for the anthropomorphism, animacy, likeability, perceived intelligence, and perceived safety of robots, International journal of social robotics, 1(1), 2009, 71 - 81
  • Kulić, Dana and Nakamura, Yoshihiko, Incremental learning and memory consolidation of whole body human motion primitives, Adaptive Behavior, 17(6), 2009, 484 - 507
  • Kulić, Dana and Takano, Wataru and Nakamura, Yoshihiko, Incremental learning, clustering and hierarchy formation of whole body motion patterns using adaptive hidden markov chains, The International Journal of Robotics Research, 27(7), 2008, 761 - 784
  • Kulić, Dana and Croft, Elizabeth, Pre-collision safety strategies for human-robot interaction, Autonomous Robots, 22(2), 2007, 149 - 164
  • Kulić, Dana and Croft, Elizabeth A, Real-time safety for human--robot interaction, Robotics and Autonomous Systems, 54(1), 2006, 1 - 12
  • Kulić, Dana and Croft, Elizabeth A, This paper presents a design methodology for a class of behaviour-based control systems, arguing its potential for application to safety critical systems. We propose a formal basis for subsumption architecture design based on two extensions to Lyapunov stability theory, the Second Order Stability Theorems, and interpretations of system safety and liveness in Lyapunov stability terms. The subsumption..., Robotics and Autonomous Systems, 54(1), 2006, 52 - 73
  • Kulić, Dana and Croft, Elizabeth A, Safe planning for human-robot interaction, Journal of Robotic Systems, 22(7), 2005, 383 - 396
  • Kulić, Dana and Croft, Elizabeth, Paper Type: Regular Paper--Submitted for the Special Issue on Human-Robot Interaction Paper Title: Affective State Estimation for Human-Robot Interaction,
  • Kulić, Dana and Croft, Elizabeth A, ARTICLE IN PRESS 1 2 3 4,
  • Kulić, Dana and Croft, Elizabeth, Paper Identification Number: A06-396,
  • KULIĆ, Dana and TAKANO, Wataru and NAKAMURA, Yoshihiko, 逐次記憶化および分類による全身運動知識の自己組織化,
  • Kulić, Dana and Croft, Elizabeth, Safe motion planning for human-robot interaction: design and experiments1,
  • Bonnet, V and Daune, G and Joukov, V and Dumas, R and Fraisse, P and Kulić, D and Seilles, A and Andary, S and Venture, G, A constrained Extended Kalman Filter for dynamically consistent inverse kinematics and inertial parameters identification, 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), January 2016, 944 - 949
  • Lin, Jonathan Feng-Shun and Samadani, Ali-Akbar and Kulić, Dana, Segmentation by Data Point Classification Applied to Forearm Surface EMG, Smart City 360°, January 2016, 153 - 165
  • Memarian, Mohammadreza and Gorbet, Rob and Kulić, Dana, Modelling and experimental analysis of a novel design for soft pneumatic artificial muscles, Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, January 2015, 1718 - 1724
  • Memarian, Mohammadreza and Gorbet, Rob and Kulić, Dana, Control of soft pneumatic finger-like actuators for affective motion generation, Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, January 2015, 1691 - 1697
  • Joukov, Vladimir and Bonnet, Vincent and Karg, Michelle and Venture, Gentiane and Kulić, Dana, Rhythmic EKF for pose estimation during gait, Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on, January 2015, 1167 - 1172
  • Joukov, Vladimir and Bonnet, Vincent and Venture, Gentiane and Kulić, Dana, Constrained dynamic parameter estimation using the Extended Kalman Filter, Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, January 2015, 3654 - 3659
  • Khan, Shehroz S and Karg, Michelle E and Kulić, Dana and Hoey, Jesse, X-Factor HMMs for detecting falls in the absence of fall-specific training data, International Workshop on Ambient Assisted Living, January 2014, 1 - 9
  • Fewzee, Pouria and Samadani, Ali-Akbar and Kulić, Dana and Karray, Fakhri, Max-dependence regression, 2014 International Joint Conference on Neural Networks (IJCNN), January 2014, 1652 - 1659
  • Li, Yeti and Burns, Catherine M and Kulić, Dana, Ecological interface design for knee and hip automatic physiotherapy assistant and rehabilitation system, Proceedings of the International Symposium on Human Factors and Ergonomics in Health Care, January 2014, 1 - 7
  • DeHart, Brandon J and Kulić, Dana, Push recovery and online gait generation for 3D bipeds with the foot placement estimator, 2014 IEEE International Conference on Robotics and Automation (ICRA), January 2014, 1937 - 1942
  • Lin, Jonathan Feng-Shun and Kulić, Dana, Human pose recovery for rehabilitation using ambulatory sensors, 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), January 2013, 4799 - 4802
  • Kulić, Dana and Choudry, Muhammad and Venture, Gentiane and Miura, Kanako and Yoshida, Eiichi, Quantitative human and robot motion comparison for enabling assistive device evaluation, 2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids), January 2013, 196 - 202
  • Chang, Guoting and Kulić, Dana, Robot task error recovery using Petri nets learned from demonstration, Advanced Robotics (ICAR), 2013 16th International Conference on, January 2013, 1 - 6
  • Choudhury, Safwan and Kulić, Dana, Gait generation via the foot placement estimator for 3D bipedal robots, Robotics and Automation (ICRA), 2013 IEEE International Conference on, January 2013, 5689 - 5695
  • Ni, J and Kulić, D and Davison, DE, A model-based feedback-control approach to behavior modification through reward-induced attitude change, 2013 American Control Conference, January 2013, 1956 - 1963
  • Chang, Guoting and Kulić, Dana, Robot task learning from demonstration using petri nets, 2013 IEEE RO-MAN, January 2013, 31 - 36
  • Chang, Guoting and Kulić, Dana, Motion learning from observation using affinity propagation clustering, 2013 IEEE RO-MAN, January 2013, 662 - 667
  • Lin, Jonathan Feng-Shun and Kulić, Dana, Segmenting human motion for automated rehabilitation exercise analysis, 2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, January 2012, 2881 - 2884
  • Samadani, Ali-Akbar and Gorbet, Rob and Kulić, Dana, Gender differences in the perception of affective movements, International Workshop on Human Behavior Understanding, January 2012, 65 - 76
  • Samadani, Ali-Akbar and Kulić, Dana and Gorbet, Rob, Multi-constrained inverse kinematics for the human hand, 2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, January 2012, 6780 - 6784
  • Samadani, Ali-Akbar and DeHart, Brandon J and Robinson, Kirsten and Kulić, Dana and Kubica, Eric and Gorbet, Rob, A study of human performance in recognizing expressive hand movements, 2011 RO-MAN, January 2011, 93 - 100
  • Choudry, Muhammad and Pillar, Matthew and Beach, Tyson and Kulić, Dana and Callaghan, Jack P, Detecting changes in human motion using stochastic distance measures, 2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, January 2011, 3475 - 3478
  • De La Cruz, Joseph Sun and Kulić, Dana and Owen, William, Online incremental learning of inverse dynamics incorporating prior knowledge, International Conference on Autonomous and Intelligent Systems, January 2011, 167 - 176
  • Freeman, Cecille and Kulić, Dana and Basir, Otman, Joint feature selection and hierarchical classifier design, Systems, Man, and Cybernetics (SMC), 2011 IEEE International Conference on, January 2011, 1728 - 1734
  • Takano, Wataru and Imagawa, Hirotaka and Kulić, Dana and Nakamura, Yoshihiko, Organization of behavioral knowledge from extraction of temporal-spatial features of human whole body motions, Biomedical Robotics and Biomechatronics (BioRob), 2010 3rd IEEE RAS and EMBS International Conference on, January 2010, 52 - 57
  • Li, Zhenning and Kulić, Dana, Particle filter based human motion tracking, Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on, January 2010, 555 - 560
  • Kulić, Dana and Nakamura, Yoshihiko, Incremental learning of human behaviors using hierarchical hidden Markov models, Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on, January 2010, 4649 - 4655
  • Li, Zhenning and Kulić, Dana, A stereo camera based full body human motion capture system using a partitioned particle filter, Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on, January 2010, 3428 - 3434
  • Takano, Wataru and Imagawa, Hirotaka and Kulić, Dana and Nakamura, Yoshihiko, What do you expect from a robot that tells your future? The crystal ball, Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on, January 2010, 1780 - 1785
  • Burton, Sarah Jane and Samadani, Ali-Akbar and Gorbet, Rob and Kulić, Dana, Laban Movement Analysis and Affective Movement Generation for Robots and Other Near-Living Creatures, Dance Notations and Robot Motion, , 48 manuscript pages
  • Kulić, Dana and Kragic, Danica and Krüger, Volker, Learning action primitives, Visual analysis of humans, , 353 manuscript pages
  • Kulić, Dana and Nakamura, Yoshihiko, Incremental learning of full body motion primitives, From Motor Learning to Interaction Learning in Robots, , 406 manuscript pages
  • Kulić, Dana and Takano, Wataru and Nakamura, Yoshihiko, Towards lifelong learning and organization of whole body motion patterns, Robotics Research, , 97 manuscript pages