161 citations · 250 across the 18 of their papers we have counts for
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A Lyapunov-Based Approach to Exploit Asymmetries in Robotic Dual-Arm Task Resolution
Diogo Almeida, Yiannis Karayiannidis
Dual-arm manipulation tasks can be prescribed to a robotic system in terms of desired absolute and relative motion of the robot's end-effectors. These can represent, e.g., jointly…
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…