161 citations · 250 across the 18 of their papers we have counts for
16 papers · 1 filter
Deformable In-Hand Slip-Aware Tactile Sensor with Integrated Velocity Sensing, Force/Torque and Pressure Map Estimation
Gabriel Arslan Waltersson, Yiannis Karayiannidis
This paper introduces a novel tactile sensor for in-hand manipulation with slip-aware control that integrates velocity and force/torque sensing with pressure map estimation into a…
Friction Estimation for In-Hand Planar Motion
Gabriel Arslan Waltersson, Yiannis Karayiannidis
This paper presents a method for online estimation of contact properties during in-hand sliding manipulation with a parallel gripper. We estimate the static and Coulomb friction as…
Perception, Control and Hardware for In-Hand Slip-Aware Object Manipulation with Parallel Grippers
Gabriel Arslan Waltersson, Yiannis Karayiannidis
Dexterous in-hand manipulation offers significant potential to enhance robotic manipulator capabilities. This paper presents a sensori-motor architecture for in-hand slip-aware con…
Offline Goal-Conditioned Reinforcement Learning for Shape Control of Deformable Linear Objects
Rita Laezza, Mohammadreza Shetab-Bushehri, Gabriel Arslan Waltersson +3
Deformable objects present several challenges to the field of robotic manipulation. One of the tasks that best encapsulates the difficulties arising due to non-rigid behavior is sh…
Feel the Tension: Manipulation of Deformable Linear Objects in Environments with Fixtures using Force Information
Finn Süberkrüb, Rita Laezza, Yiannis Karayiannidis
Humans are able to manipulate Deformable Linear Objects (DLOs) such as cables and wires, with little or no visual information, relying mostly on force sensing. In this work, we pro…
Autonomous Navigation with Convergence Guarantees in Complex Dynamic Environments
Albin Dahlin, Yiannis Karayiannidis
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with…
Obstacle Avoidance in Dynamic Environments via Tunnel-following MPC with Adaptive Guiding Vector Fields
Albin Dahlin, Yiannis Karayiannidis
This paper proposes a motion control scheme for robots operating in a dynamic environment with concave obstacles. A Model Predictive Controller (MPC) is constructed to drive the ro…
Learning Shape Control of Elastoplastic Deformable Linear Objects
Rita Laezza, Yiannis Karayiannidis
Deformable object manipulation tasks have long been regarded as challenging robotic problems. However, until recently very little work has been done on the subject, with most robot…
Creating Star Worlds: Reshaping the Robot Workspace for Online Motion Planning
Albin Dahlin, Yiannis Karayiannidis
Motion planning methods like navigation functions and harmonic potential fields provide (almost) global convergence and are suitable for obstacle avoidance in dynamically changing…
A Survey of Robot Manipulation in Contact
Markku Suomalainen, Yiannis Karayiannidis, Ville Kyrki
In this survey, we present the current status on robots performing manipulation tasks that require varying contact with the environment, such that the robot must either implicitly…
Human-robot collaborative object transfer using human motion prediction based on Cartesian pose Dynamic Movement Primitives
Antonis Sidiropoulos, Yiannis Karayiannidis, Zoe Doulgeri
In this work, the problem of human-robot collaborative object transfer to unknown target poses is addressed. The desired pattern of the end-effector pose trajectory to a known targ…
Interpretability in Contact-Rich Manipulation via Kinodynamic Images
Ioanna Mitsioni, Joonatan Mänttäri, Yiannis Karayiannidis +2
Deep Neural Networks (NNs) have been widely utilized in contact-rich manipulation tasks to model the complicated contact dynamics. However, NN-based models are often difficult to d…
Modelling and Learning Dynamics for Robotic Food-Cutting
Ioanna Mitsioni, Yiannis Karayiannidis, Danica Kragic
Data-driven approaches for modelling contact-rich tasks address many of the difficulties that analytical models bear. For real-world scenarios, the hardware capabilities constrain…
Asymmetric Dual-Arm Task Execution using an Extended Relative Jacobian
Diogo Almeida, Yiannis Karayiannidis
Coordinated dual-arm manipulation tasks can be broadly characterized as possessing absolute and relative motion components. Relative motion tasks, in particular, are inherently red…
Data-Driven Model Predictive Control for Food-Cutting
Ioanna Mitsioni, Yiannis Karayiannidis, Johannes A. Stork +1
Modelling of contact-rich tasks is challenging and cannot be entirely solved using classical control approaches due to the difficulty of constructing an analytic description of the…
Folding Assembly by Means of Dual-Arm Robotic Manipulation
Diogo Almeida, Yiannis Karayiannidis
In this paper, we consider folding assembly as an assembly primitive suitable for dual-arm robotic assembly, that can be integrated in a higher level assembly strategy. The system…