Yiannis Karayiannidis

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Recent advances in both anthropomorphic robots and bimanual industrial ma-nipulators had led to an increased interest in the specific problems pertaining to dual arm manipulation. For the future, we foresee robots performing human-like tasks in both domestic and industrial settings. It is therefore natural to study specifics of dual arm manipulation in(More)
— This paper addresses the problem of robot interaction with objects attached to the environment through joints such as doors, drawers and cupboards. We propose a methodology that requires no prior knowledge of the objects' kinematics, including the type of joint-either prismatic or revolute. The method consists of a velocity controller which relies on(More)
— This work deals with the problem of force/position trajectory tracking under uncertainties arising from surface position and orientation. A robotic finger with a soft hemi-spherical tip of uncertain compliance parameter is considered in contact with a rigid flat surface. A novel adaptive controller is designed using online estimates of the unknown(More)
The problem of door opening is fundamental for robots operating in domestic environments. Since these environments are generally unstructured, a robot must deal with several types of uncertainties associated with the dynamics and kinematics of a door to achieve successful opening. The present paper proposes a dynamic force/velocity controller which uses(More)
In this paper, we propose a new way to exploit the redundancy of dual arm mobile manipulators when performing inherently bi-manual tasks using online controllers. Bi-manual tasks are tasks that require motion of both arms in order to be carried out efficiently, such as holding and cleaning an object, or moving an object from one hand to the other. These(More)
— Object grasping is commonly followed by some form of object manipulation – either when using the grasped object as a tool or actively changing its position in the hand through in-hand manipulation to afford further interaction. In this process, slippage may occur due to inappropriate contact forces, various types of noise and/or due to the unexpected(More)