13 citations · 42 across the 43 of their papers we have counts for
43 papers
Deformable Multibody Modeling for Model Predictive Control in Legged Locomotion with Embodied Compliance
Keran Ye, Konstantinos Karydis
The paper presents a method to stabilize dynamic gait for a legged robot with embodied compliance. Our approach introduces a unified description for rigid and compliant bodies to a…
Learning-based Estimation of Forward Kinematics for an Orthotic Parallel Robotic Mechanism
Jingzong Zhou, Yuhan Zhu, Xiaobin Zhang +2
This paper introduces a 3D parallel robot with three identical five-degree-of-freedom chains connected to a circular brace end-effector, aimed to serve as an assistive device for p…
Analysis of Forces Exerted by Shoulder and Elbow Fabric-based Pneumatic Actuators for Pediatric Exosuits
Mehrnoosh Ayazi, Ipsita Sahin, Caio Mucchiani +2
To enhance pediatric exosuit design, it is crucial to assess the actuator-generated forces. This work evaluates the contact forces exerted by soft fabric-based pneumatic actuators…
Adaptive LiDAR Odometry and Mapping for Autonomous Agricultural Mobile Robots in Unmanned Farms
Hanzhe Teng, Yipeng Wang, Dimitrios Chatziparaschis +1
Unmanned and intelligent agricultural systems are crucial for enhancing agricultural efficiency and for helping mitigate the effect of labor shortage. However, unlike urban environ…
Augmented-Reality Enabled Crop Monitoring with Robot Assistance
Caio Mucchiani, Dimitrios Chatziparaschis, Konstantinos Karydis
The integration of augmented reality (AR), extended reality (XR), and virtual reality (VR) technologies in agriculture has shown significant promise in enhancing various agricultur…
Hierarchical Tri-manual Planning for Vision-assisted Fruit Harvesting with Quadrupedal Robots
Zhichao Liu, Jingzong Zhou, Konstantinos Karydis
This paper addresses the challenge of developing a multi-arm quadrupedal robot capable of efficiently harvesting fruit in complex, natural environments. To overcome the inherent li…
Vision-assisted Avocado Harvesting with Aerial Bimanual Manipulation
Zhichao Liu, Jingzong Zhou, Caio Mucchiani +1
Robotic fruit harvesting holds potential in precision agriculture to improve harvesting efficiency. While ground mobile robots are mostly employed in fruit harvesting, certain crop…
Koopman Operators in Robot Learning
Lu Shi, Masih Haseli, Giorgos Mamakoukas +5
Koopman operator theory offers a rigorous treatment of dynamics and has been emerging as an alternative modeling and learning-based control method across various robotics sub-domai…
Force Profiling of a Shoulder Bidirectional Fabric-based Pneumatic Actuator for a Pediatric Exosuit
Mehrnoosh Ayazi, Ipsita Sahin, Caio Mucchiani +2
This paper presents a comprehensive analysis of the contact force profile of a single-cell bidirectional soft pneumatic actuator, specifically designed to aid in the abduction and…
Adaptive Environment-Aware Robotic Arm Reaching Based on a Bio-Inspired Neurodynamical Computational Framework
Dimitrios Chatziparaschis, Shan Zhong, Vasileios Christopoulos +1
Bio-inspired robotic systems are capable of adaptive learning, scalable control, and efficient information processing. Enabling real-time decision-making for such systems is critic…
Design and Central Pattern Generator Control of a New Transformable Wheel-Legged Robot
Tyler Bishop, Keran Ye, Konstantinos Karydis
This paper introduces a new wheel-legged robot and develops motion controllers based on central pattern generators (CPGs) for the robot to navigate over a range of terrains. A tran…
Design of an End-effector with Application to Avocado Harvesting
Jingzong Zhou, Xiaoao Song, Konstantinos Karydis
Robot-assisted fruit harvesting has been a critical research direction supporting sustainable crop production. One important determinant of system behavior and efficiency is the en…
On-the-Go Tree Detection and Geometric Traits Estimation with Ground Mobile Robots in Fruit Tree Groves
Dimitrios Chatziparaschis, Hanzhe Teng, Yipeng Wang +3
By-tree information gathering is an essential task in precision agriculture achieved by ground mobile sensors, but it can be time- and labor-intensive. In this paper we present an…
Robust Generalized Proportional Integral Control for Trajectory Tracking of Soft Actuators in a Pediatric Wearable Assistive Device
Caio Mucchiani, Zhichao Liu, Ipsita Sahin +2
Soft robotics hold promise in the development of safe yet powered assistive wearable devices for infants. Key to this is the development of closed-loop controllers that can help re…
A Fabric-based Pneumatic Actuator for the Infant Elbow: Design and Comparative Kinematic Analysis
Ipsita Sahin, Mehrnoosh Ayazi, Caio Mucchiani +3
This paper focuses on the design and systematic evaluation of fabric-based, bellow-type soft pneumatic actuators to assist with flexion and extension of the elbow, intended for use…
Multimodal Dataset for Localization, Mapping and Crop Monitoring in Citrus Tree Farms
Hanzhe Teng, Yipeng Wang, Xiaoao Song +1
In this work we introduce the CitrusFarm dataset, a comprehensive multimodal sensory dataset collected by a wheeled mobile robot operating in agricultural fields. The dataset offer…
Robot-assisted Soil Apparent Electrical Conductivity Measurements in Orchards
Dimitrios Chatziparaschis, Elia Scudiero, Konstantinos Karydis
Soil apparent electrical conductivity (ECa) is a vital metric in Precision Agriculture and Smart Farming, as it is used for optimal water content management, geological mapping, an…
A Novel Lockable Spring-loaded Prismatic Spine to Support Agile Quadrupedal Locomotion
Keran Ye, Kenneth Chung, Konstantinos Karydis
This paper introduces a way to systematically investigate the effect of compliant prismatic spines in quadrupedal robot locomotion. We develop a novel spring-loaded lockable spine…
Dynamic Modeling and Analysis of Impact-resilient MAVs Undergoing High-speed and Large-angle Collisions with the Environment
Zhichao Liu, Konstantinos Karydis
Micro Aerial Vehicles (MAVs) often face a high risk of collision during autonomous flight, particularly in cluttered and unstructured environments. To mitigate the collision impact…
Contact-Prioritized Planning of Impact-Resilient Aerial Robots with an Integrated Compliant Arm
Zhichao Liu, Zhouyu Lu, Ali-akbar Agha-mohammadi +1
The article develops an impact-resilient aerial robot (s-ARQ) equipped with a compliant arm to sense contacts and reduce collision impact and featuring a real-time contact force es…
Evaluation of Legged Robot Landing Capability Under Aggressive Linear and Angular Velocities
Keran Ye, Konstantinos Karydis
This paper proposes a method to evaluate the capability of aggressive legged robot landing under significant touchdown linear and angular velocities upon impact. Our approach build…
Koopman Operators for Modeling and Control of Soft Robotics
Lu Shi, Zhichao Liu, Konstantinos Karydis
Purpose of review: We review recent advances in algorithmic development and validation for modeling and control of soft robots leveraging the Koopman operator theory. Recent findin…
Online Search-based Collision-inclusive Motion Planning and Control for Impact-resilient Mobile Robots
Zhouyu Lu, Zhichao Liu, Merrick Campbell +1
This paper focuses on the emerging paradigm shift of collision-inclusive motion planning and control for impact-resilient mobile robots, and develops a unified hierarchical framewo…
Centroid Distance Keypoint Detector for Colored Point Clouds
Hanzhe Teng, Dimitrios Chatziparaschis, Xinyue Kan +2
Keypoint detection serves as the basis for many computer vision and robotics applications. Despite the fact that colored point clouds can be readily obtained, most existing keypoin…