106 citations · 188 across the 10 of their papers we have counts for
12 papers
From RGB images to Dynamic Movement Primitives for planar tasks
Antonis Sidiropoulos, Zoe Doulgeri
DMP have been extensively applied in various robotic tasks thanks to their generalization and robustness properties. However, the successful execution of a given task may necessita…
A lightweight method for detecting dynamic target occlusions by the robot body
Savvas Sampaziotis, Sotiris Antonakoudis, Marios Kiatos +2
Robot vision is greatly affected by occlusions, which poses challenges to autonomous systems. The robot itself may hide targets of interest from the camera, while it moves within t…
Dynamic via-points and improved spatial generalization for online trajectory planning with Dynamic Movement Primitives
Antonis Sidiropoulos, Zoe Doulgeri
Dynamic Movement Primitives (DMP) have found remarkable applicability and success in various robotic tasks, which can be mainly attributed to their generalization, modulation and r…
Bimanual crop manipulation for human-inspired robotic harvesting
Sotiris Stavridis, Dimitrios Papageorgiou, Leonidas Droukas +1
Most existing robotic harvesters utilize a unimanual approach; a single arm grasps the crop and detaches it, either via a detachment movement, or by cutting its stem with a special…
A Survey of Robotic Harvesting Systems and Enabling Technologies
Leonidas Droukas, Zoe Doulgeri, Nikolaos L. Tsakiridis +7
This paper presents a comprehensive review of ground agricultural robotic systems and applications with special focus on harvesting that span research and commercial products and r…
A passive admittance controller to enforce Remote Center of Motion and Tool Spatial constraints with application in hands-on surgical procedures
Theodora Kastritsi, Zoe Doulgeri
The restriction of feasible motions of a manipulator link constrained to move through an entry port is a common problem in minimum invasive surgery procedures. Additional spatial r…
A controller for reaching and unveiling a partially occluded object of interest with an eye-in-hand robot
Dimitrios Papageorgiou, Leonidas Koutras, Zoe Doulgeri
In this work, a control scheme for approaching and unveiling a partially occluded object of interest is proposed.The control scheme is based only on the classified point cloud obta…
Improved Reinforcement Learning Pushing Policies via Heuristic Rules
Marios Kiatos, Iason Sarantopoulos, Sotiris Malassiotis +1
Non-prehensile pushing actions have the potential to singulate a target object from its surrounding clutter in order to facilitate the robotic grasping of the target. To address th…
A Robust Controller for Stable 3D Pinching using Tactile Sensing
Efi Psomopoulou, Nicholas Pestell, Fotios Papadopoulos +3
This paper proposes a controller for stable grasping of unknown-shaped objects by two robotic fingers with tactile fingertips. The grasp is stabilised by rolling the fingertips on…
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…
A Reversible Dynamic Movement Primitive formulation
Antonis Sidiropoulos, Zoe Doulgeri
In this work, a novel Dynamic Movement Primitive (DMP) formulation is proposed which supports reversibility, i.e. backwards reproduction of a learned trajectory. Apart from sharing…
Split Deep Q-Learning for Robust Object Singulation
Iason Sarantopoulos, Marios Kiatos, Zoe Doulgeri +1
Extracting a known target object from a pile of other objects in a cluttered environment is a challenging robotic manipulation task encountered in many robotic applications. In suc…