161 citations · 250 across the 18 of their papers we have counts for
4 papers · 1 filter
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…
Planar Friction Modelling with LuGre Dynamics and Limit Surfaces
Gabriel Arslan Waltersson, Yiannis Karayiannidis
During planar motion, contact surfaces exhibit a coupling between tangential and rotational friction forces. This paper proposes planar friction models grounded in the LuGre model…
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…