Yiannis Karayiannidis

Researcher at Mechatronics

Yiannis Karayiannidis (Docent 2017, Phd Eng. 2009, Diploma Eng. 2004) is Senior Researcher (equivalent to Associate Professor/Research) with the Division of Systems and Control (SYSCON), Department of Electrical Engineering (E2) at Chalmers University of Technology. He is also affiliated with the Dept. of Robotics, Perception and Learning (RPL former CVAP) at KTH, Royal Institute of Technology. He serves as Associate Editor for the IEEE Robotics and Automation Letters, IEEE/RSJ International Conference on Intelligent Robots (IROS) and Systems and the European Control Conference(ECC), and has been a reviewer for the major scientific journals specialised in robotics and automatic control. He is a WASP-affilated researcher and also serves as the treasurer of the IEEE Robotics Chapter in Sweden. He has been the PI for national (DARMA and DARMA_bridge by WASP, CHROMA by VR) but also for the H2020 SARAFun project representing KTH (ended in 2018.) His research interests include robot control, robotic manipulation in human-centered environments, dual arm manipulation, force control, robotic assembly, control of physical human-robot interaction, multi-agent robotic systems, adaptive control and nonlinear control systems.

Source: chalmers.se
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Showing 39 publications

2021

ReForm: A Robot Learning Sandbox for Deformable Linear Object Manipulation

Rita Laezza, Robert Gieselmann, Florian T. Pokorny et al
Proceedings - IEEE International Conference on Robotics and Automation, p. 4717-4723
Paper in proceeding
2021

Temporal Coupling of Dynamical Movement Primitives for Constrained Velocities and Accelerations

Albin Dahlin, Yiannis Karayiannidis
IEEE Robotics and Automation Letters. Vol. 6 (2), p. 2233-2239
Journal article
2021

Learning Shape Control of Elastoplastic Deformable Linear Objects

Rita Laezza, Yiannis Karayiannidis
Proceedings - IEEE International Conference on Robotics and Automation, p. 4438-4444
Paper in proceeding
2021

Modelling and Learning Dynamics for Robotic Food-Cutting

Ioanna Mitsioni, Yiannis Karayiannidis, Danica Kragic
IEEE International Conference on Automation Science and Engineering. Vol. 2021-August, p. 1194-1200
Paper in proceeding
2021

Presenting ReForm, a Robot Learning Sandbox for Deformable Linear Object Manipulation

Rita Laezza, Robert Gieselmann, Florian T. Pokorny et al
Other conference contribution
2021

Task-based role adaptation for human-robot cooperative object handling

Ramin Jaberzadeh Ansari, Yiannis Karayiannidis
IEEE Robotics and Automation Letters. Vol. 6 (2), p. 3592-3598
Journal article
2021

Motion Prediction Based on Multiple Futures for Dynamic Obstacle Avoidance of Mobile Robots

Ze Zhang, Emmanuel Dean, Yiannis Karayiannidis et al
IEEE International Conference on Automation Science and Engineering. Vol. 2021-August, p. 475-481
Paper in proceeding
2020

Shape Control of Elastoplastic Deformable Linear Objects through Reinforcement Learning

Rita Laezza, Yiannis Karayiannidis
Other conference contribution
2020

Comparison of CNN and LSTM for modeling virtual sensors in an engine

Mauro Bellone, Ethan Faghani, Yiannis Karayiannidis
SAE Technical Papers. Vol. 2020-April (April)
Paper in proceeding
2020

Amortized Variational Inference for Road Friction Estimation

Shuangshuang Chen, Sihao Ding, L. Srikar Muppirisetty et al
IEEE Intelligent Vehicles Symposium, Proceedings, p. 1777-1784
Paper in proceeding
2020

Human grasp position estimation for human–robot cooperative object manipulation

Ramin Jaberzadeh Ansari, Giuseppe Giordano, Jonas Sjöberg et al
Robotics and Autonomous Systems. Vol. 131
Journal article
2020

Robotic Assembly of Rounded Parts With and Without Threads

Amr Salem, Yiannis Karayiannidis
IEEE Robotics and Automation Letters. Vol. 5 (2), p. 2467-2474
Journal article
2020

Adaptive Trajectory Generation under Velocity Constraints using Dynamical Movement Primitives

Albin Dahlin, Yiannis Karayiannidis
IEEE Control Systems Letters. Vol. 4 (2), p. 438-443
Journal article
2020

Amortized Variational Inference for Road Friction Estimation

Shuangshuang Chen, Sihao Ding, L. Srikar Muppirisetty et al
2020 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV), p. 1777-1784
Paper in proceeding
2019

Data-Driven Model Predictive Control for the Contact-Rich Task of Food Cutting

Ioanna Mitsioni, Yiannis Karayiannidis, Johannes A. Stork et al
2019 IEEE-RAS 19TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS), p. 244-250
Paper in proceeding
2019

A Lyapunov-Based Approach to Exploit Asymmetries in Robotic Dual-Arm Task Resolution

Diogo Almeida, Yiannis Karayiannidis
Proceedings of the IEEE Conference on Decision and Control. Vol. 2019-December, p. 4252-4258
Paper in proceeding
2019

Human-robot collaborative object transfer using human motion prediction based on dynamic movement primitives

Antonis Sidiropoulos, Yiannis Karayiannidis, Zoe Doulgeri
2019 18th European Control Conference, ECC 2019, p. 2583-2588
Paper in proceeding
2018

Cooperative Manipulation and Identification of a 2-DOF Articulated Object by a Dual-Arm Robot

Diogo Almeida, Yiannis Karayiannidis
2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), p. 5445-5451
Paper in proceeding
2018

Human Motion Prediction in Human-Robot Handovers based on Dynamic Movement Primitives

Dominik Widmann, Yiannis Karayiannidis
2018 European Control Conference, ECC 2018, p. 2781-2787
Paper in proceeding
2018

Universal, Open Source, Myoelectric Interface for Assistive Devices

Adam Naber, Yiannis Karayiannidis, Max Jair Ortiz Catalan
International Conference on Control Automation Robotics and Vision, p. 1585-1589
Paper in proceeding
2018

Physical Human-Robot Interaction through a Jointly-held Object based on Kinesthetic Perception

Ramin Jaberzadeh Ansari, Yiannis Karayiannidis, Jonas Sjöberg
RO-MAN 2018 - 27th IEEE International Symposium on Robot and Human Interactive Communication, p. 1099-1104
Paper in proceeding
2017

Reducing the human effort for human-robot cooperative object manipulation via control design

Ramin Jaberzadeh Ansari, Yiannis Karayiannidis
IFAC-PapersOnLine. Vol. 50 (1), p. 14922-14927
Paper in proceeding
2017

Multi-Agent Second Order Average Consensus With Prescribed Transient Behavior

L. Macellari, Yiannis Karayiannidis, D. V. Dimarogonas
IEEE Transactions on Automatic Control. Vol. 62 (10), p. 5282-5288
Journal article
2017

Operational space robot control for motion performance and safe interaction under Unintentional Contacts

Yiannis Karayiannidis, Leonidas Droukas, Zoe Doulgeri
2016 European Control Conference (ECC);Aalborg, Denmark, 29 June - 1 July 2016, p. 407-412
Paper in proceeding
2017

Dexterous manipulation by means of compliant grasps and external contacts

Almeida Diogo, Yiannis Karayiannidis
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), p. 1913-1920
Paper in proceeding
2017

Dexterous manipulation with compliant grasps and external contacts

Diogo Almeida, Yiannis Karayiannidis
IEEE International Conference on Intelligent Robots and Systems. Vol. 2017-September, p. 1913-1920
Paper in proceeding
2016

Folding Assembly by Means of Dual-Arm Robotic Manipulation

D. Almeida, Yiannis Karayiannidis
2016 Ieee International Conference on Robotics and Automation, p. 3987-3993
Paper in proceeding
2016

An Adaptive Control Approach for Opening Doors and Drawers Under Uncertainties

Yiannis Karayiannidis, C. Smith, F. E. V. Barrientos et al
IEEE Transactions on Robotics. Vol. 32 (1), p. 161-175
Journal article
2016

Whole Body Control of a Dual-Arm Mobile Robot Using a Virtual Kinematic Chain

Y. Q. Wang, C. Smith, Yiannis Karayiannidis et al
International Journal of Humanoid Robotics. Vol. 13 (1)
Journal article
2016

A Model-Free Controller for Guaranteed Prescribed Performance Tracking of Both Robot Joint Positions and Velocities

Yiannis Karayiannidis, Dimitrios Papageorgiou, Zoe Doulgeri
IEEE Robotics and Automation Letters. Vol. 1 (1), p. 267-273
Journal article
2016

Adaptive control for pivoting with visual and tactile feedback

Francisco E B Vina, Yiannis Karayiannidis, C. Smith et al
Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2016-June, p. 399-406
Paper in proceeding
2016

Bimanual folding assembly: Switched control and contact point estimation

Diogo Almeida, Francisco E B Vina, Yiannis Karayiannidis
16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016; Hotel WestinCancun; Mexico; 15-17 November 2016, p. Art no 7803279, Pages 210-216
Paper in proceeding
2015

Posture regulation for unicycle-like robots with prescribed performance guarantees

M. Zambelli, Yiannis Karayiannidis, D.V. Dimarogonas
IET Control Theory and Applications. Vol. 9 (2), p. 192-202
Journal article
2015

A Hybrid Control Approach to Task Priority Based Mobile Manipulation

Johan Markdahl, Xiaoming Hu, D. Kragic et al
54th IEEE Conference on Decision and Control (CDC), Osaka, Japan. Dec 15-18, 2015. Vol. Volume 2016-February (7402328), p. 801-806
Paper in proceeding
2015

Force/Position/Rolling Control For Spherical Tip Robotic Fingers

Leonidas Droukas, Yiannis Karayiannidis, Zoe Doulgeri
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), p. 858-863
Paper in proceeding
2015

Cooperative control of a serial-to-parallel structure using a virtual kinematic chain in a mobile dual-arm manipulation application

Yuquan Wang, C. Smith, Yiannis Karayiannidis et al
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, GERMANY, SEP 28-OCT 02 2015, p. 2372-2379
Paper in proceeding
2015

Robot Control for Task Performance and Enhanced Safety under Impact

Yiannis Karayiannidis, Leonidas Droukas, Dimitrios Papageorgiou et al
Frontiers in Robotics and AI. Vol. 2 (Dec), p. 1-12
Journal article
2015

In-Hand Manipulation Using Gravity and Controlled Slip

Francisco Eli Viña Barrientos, Yiannis Karayiannidis, K. Pauwels et al
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vol. 2015-December, p. 5636-5641
Paper in proceeding
2013

Predicting Slippage and Learning Manipulation Affordances through Gaussian Process Regression

Francisco E B Vina, Yasemin Bekiroglu, Christian Smith et al
IEEE-RAS International Conference on Humanoid Robots
Paper in proceeding

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Showing 3 research projects

2020–2025

Learning & Understanding Human-Centered Robotic Manipulation Strategies

Karinne Ramirez-Amaro Mechatronics
Maximilian Diehl Mechatronics
Yiannis Karayiannidis Mechatronics
Jonas Sjöberg Mechatronics
Chalmers AI Research Centre (CHAIR)

2019–2021

Vision and machine learning for collaborative robotics

Knut Åkesson Automation
Torsten Sattler Imaging and Image Analysis
Yiannis Karayiannidis Mechatronics
Chalmers AI Research Centre (CHAIR)

2019–2021

Project ViMCoR

Knut Åkesson Automation
Yiannis Karayiannidis Mechatronics
Torsten Sattler Imaging and Image Analysis
Martin Fabian Automation
Ze Zhang Automation
Sabino Francesco Roselli Automation
Volvo Group

There might be more projects where Yiannis Karayiannidis participates, but you have to be logged in as a Chalmers employee to see them.