Ioannis A. Raptis

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This paper applies a robotics-inspired approach to derive a low-dimensional forward-dynamic hybrid model of human walking in the sagittal plane. The low-dimensional model is derived as a subdynamic of a higher-dimensional anthropomorphic hybrid model. The hybrid model is composed of models for single support (SS) and double support (DS), with the transition(More)
This paper presents a linear tracking control design technique for small-scale unmanned helicopters. The design objective is for the helicopter to track predefined velocity and heading reference trajectories. The controller design is based on a generic linear model which successfully describes the dynamic behavior of most small-scale helicopters. The flight(More)
This paper presents a model-based tracking control design for small-scale unmanned helicopters. The design objective is for the helicopter to track predefined inertial position (or velocity) and heading reference trajectories. The controller is based on a nominal linear state-space model that successfully captures the small-scale helicopter coupled(More)
The future of flight is autonomous and semi-autonomous vehicles. By supporting or replacing UAV operators, control systems become key for increasing UAV autonomy. This paper presents a novel controller and trajectory generator module for an unmanned rotorcraft, with the goal of tracking a moving ground target using sensor measurements and limited or no(More)
This paper presents a collaborative formation holding that translates and rotates an oversized object to a predefined reference location, utilizing a swarm of robots. Geometric equations and guidance feedback laws were derived for the swarm members to autonomously transport the object to its final location and orientation. Previous research in the field of(More)
Large-Scale Actuator Networks (LSANs) are a rapidly growing class of electro-mechanical systems. A prime implementation of LSANs in the industrial sector is distributed manipulation. Some distributed manipulators include: vibrating plates, arrays of air jets, and mobile multi-robot teams. This paper examines an autonomous morphing surface that reconfigures(More)