24 citations · 36 across the 12 of their papers we have counts for
13 papers
Interpretable Data-Driven Ship Dynamics Model: Enhancing Physics-Based Motion Prediction with Parameter Optimization
Christos Papandreou, Michail Mathioudakis, Theodoros Stouraitis +4
The deployment of autonomous navigation systems on ships necessitates accurate motion prediction models tailored to individual vessels. Traditional physics-based models, while grou…
Model-based optimisation for the personalisation of robot-assisted gait training
Andreas Christou, Daniel F. N. Gordon, Theodoros Stouraitis +2
Personalised rehabilitation can be key to promoting gait independence and quality of life. Robots can enhance therapy by systematically delivering support in gait training, but oft…
Towards Real-World Validation of a Physics-Based Ship Motion Prediction Model
Michail Mathioudakis, Christos Papandreou, Theodoros Stouraitis +5
The maritime industry aims towards a sustainable future, which requires significant improvements in operational efficiency. Current approaches focus on minimising fuel consumption…
Impact-Aware Bimanual Catching of Large-Momentum Objects
Lei Yan, Theodoros Stouraitis, João Moura +3
This paper investigates one of the most challenging tasks in dynamic manipulation -- catching large-momentum moving objects. Beyond the realm of quasi-static manipulation, dealing…
Predictive and Robust Robot Assistance for Sequential Manipulation
Theodoros Stouraitis, Michael Gienger
This paper presents a novel concept to support physically impaired humans in daily object manipulation tasks with a robot. Given a user's manipulation sequence, we propose a predic…
Communicating Robot's Intentions while Assisting Users via Augmented Reality
Chao Wang, Theodoros Stouraitis, Anna Belardinelli +2
This paper explores the challenges faced by assistive robots in effectively cooperating with humans, requiring them to anticipate human behavior, predict their actions' impact, and…
A behavioural transformer for effective collaboration between a robot and a non-stationary human
Ruaridh Mon-Williams, Theodoros Stouraitis, Sethu Vijayakumar
A key challenge in human-robot collaboration is the non-stationarity created by humans due to changes in their behaviour. This alters environmental transitions and hinders human-ro…
Explainable Human-Robot Training and Cooperation with Augmented Reality
Chao Wang, Anna Belardinelli, Stephan Hasler +3
The current spread of social and assistive robotics applications is increasingly highlighting the need for robots that can be easily taught and interacted with, even by users with…
ROS-PyBullet Interface: A Framework for Reliable Contact Simulation and Human-Robot Interaction
Christopher E. Mower, Theodoros Stouraitis, João Moura +7
Reliable contact simulation plays a key role in the development of (semi-)autonomous robots, especially when dealing with contact-rich manipulation scenarios, an active robotics re…
Set-based State Estimation with Probabilistic Consistency Guarantee under Epistemic Uncertainty
Shen Li, Theodoros Stouraitis, Michael Gienger +2
Consistent state estimation is challenging, especially under the epistemic uncertainties arising from learned (nonlinear) dynamic and observation models. In this work, we propose a…
Non-prehensile Planar Manipulation via Trajectory Optimization with Complementarity Constraints
João Moura, Theodoros Stouraitis, Sethu Vijayakumar
Contact adaption is an essential capability when manipulating objects. Two key contact modes of non-prehensile manipulation are sticking and sliding. This paper presents a Trajecto…
Decentralized Ability-Aware Adaptive Control for Multi-robot Collaborative Manipulation
Lei Yan, Theodoros Stouraitis, Sethu Vijayakumar
Multi-robot teams can achieve more dexterous, complex and heavier payload tasks than a single robot, yet effective collaboration is required. Multi-robot collaboration is extremely…
Multi-mode Trajectory Optimization for Impact-aware Manipulation
Theodoros Stouraitis, Lei Yan, João Moura +2
The transition from free motion to contact is a challenging problem in robotics, in part due to its hybrid nature. Additionally, disregarding the effects of impacts at the motion p…