26 citations · 44 across the 2 of their papers we have counts for
6 papers
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 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 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…