Yiannis Karayiannidis

Planar Friction Modelling with LuGre Dynamics and Limit Surfaces

Offline Goal-Conditioned Reinforcement Learning for Shape Control of Deformable Linear Objects

Offline Reinforcement Learning for Shape Control of Deformable Linear Objects from Limited Real Data

Obstacle Avoidance in Dynamic Environments via Tunnel-Following MPC with Adaptive Guiding Vector Fields

Creating Star Worlds: Reshaping the Robot Workspace for Online Motion Planning

2022

A survey of robot manipulation in contact

Planning and Control for Cable-routing with Dual-arm Robot

Blind Manipulation of Deformable Linear Objects Based on Force Information from Environmental Contacts

Trajectory Scaling for Reactive Motion Planning

2022

Asymmetric Dual-Arm Task Execution Using an Extended Relative Jacobian

Feel the Tension: Manipulation of Deformable Linear Objects in Environments with Fixtures using Force Information

Multimodal Motion Prediction Based on Adaptive and Swarm Sampling Loss Functions for Reactive Mobile Robots

ReForm: A Robot Learning Sandbox for Deformable Linear Object Manipulation

Human-Robot Collaborative Object Transfer Using Human Motion Prediction Based on Cartesian Pose Dynamic Movement Primitives

Interpretability in Contact-Rich Manipulation via Kinodynamic Images

Temporal Coupling of Dynamical Movement Primitives for Constrained Velocities and Accelerations

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

Modelling and Learning Dynamics for Robotic Food-Cutting

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

2021

Learning Shape Control of Elastoplastic Deformable Linear Objects

Monte Carlo Filtering Objectives

2021

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

Adaptive Trajectory Generation under Velocity Constraints using Dynamical Movement Primitives

Shape Control of Elastoplastic Deformable Linear Objects through Reinforcement Learning

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

Robotic Assembly of Rounded Parts With and Without Threads

Discrete Bimanual Manipulation for Wrench Balancing

Amortized Variational Inference for Road Friction Estimation

Human grasp position estimation for human–robot cooperative object manipulation

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

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

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

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

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

Universal, Open Source, Myoelectric Interface for Assistive Devices

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

Dexterous manipulation with compliant grasps and external contacts

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

Multi-Agent Second Order Average Consensus With Prescribed Transient Behavior

Dexterous manipulation by means of compliant grasps and external contacts

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

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

Folding Assembly by Means of Dual-Arm Robotic Manipulation

Bimanual folding assembly: Switched control and contact point estimation

An Adaptive Control Approach for Opening Doors and Drawers Under Uncertainties

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

Adaptive control for pivoting with visual and tactile feedback

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

A Hybrid Control Approach to Task Priority Based Mobile Manipulation

In-Hand Manipulation Using Gravity and Controlled Slip

2015

Robot Control for Task Performance and Enhanced Safety under Impact

Posture regulation for unicycle-like robots with prescribed performance guarantees

Force/Position/Rolling Control For Spherical Tip Robotic Fingers

Predicting Slippage and Learning Manipulation Affordances through Gaussian Process Regression