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Aikaterini Smyrli

7 accepted papers

2026

A Modular, Wireless and Wearable Biosignal Acquisition Platform

Antonios Doukakis, Aikaterini Smyrli, Makis Livadas, Henrique De Melo Ribeiro, Shadiya Alingal Meethal, Mohamad Reza Shahabian Alashti +3
ICRA 2026poster

We present a modular, wireless biosignal acquisition platform designed to enable scalable electromyography (EMG) and inertial measurement unit (IMU) sensing for wearable robotics applications. The system supports up to 64 EMG channels and integrates a 9-axis IMU, leveraging a distributed Leader-Foll…

Cited by 0Scholar ↗
2025

A Virtual Gravity Controller for Efficient Underactuated Biped Robots

Despoina Maligianni, Fotios Valouxis, Antonios Kantounias, Aikaterini Smyrli, Evangelos Papadopoulos
ICRA 2025

This paper introduces a virtual gravity controller for underactuated biped robots. A bio-inspired model of passive bipedal walking is used as the basis for the controller's design. An analytical expression of the controller is obtained, allowing on-line implementations of the developed control schem

Cited by 0Source ↗Scholar ↗
2022

Improved biped walking performance around the kinematic singularities of biomimetic four-bar knees

Aikaterini Smyrli, Evangelos Papadopoulos
IROS 2022poster

This paper studies the effects of replacing pin-joint knees in passive dynamic bipedal walkers with biomimetic four-bar knees. The kinetic model of the four-bar knees is presented in detail, and an analytical model of the passive walking dynamics is derived. The resulting four-bar kneed biped is com…

Cited by 1Source ↗Scholar ↗
2022

Modeling, Validation, and Design Investigation of a Passive Biped Walker with Knees and Biomimetic Feet

Aikaterini Smyrli, Evangelos Papadopoulos
ICRA 2022poster

This paper studies a passive biped walker with knees and biomimetic feet and its behavior, as a function of key parameters. The model includes a continuous dynamic representation of the knee joint's interaction with a viscoelastic kneecap, as well as a complete kinematic description of feet that are…

Cited by 8Source ↗Scholar ↗
2020

A methodology for the incorporation of arbitrarily-shaped feet in passive bipedal walking dynamics

Aikaterini Smyrli, Evangelos Papadopoulos
ICRA 2020poster

A methodology for implementing arbitrary foot shapes in the passive walking dynamics of biped robots is developed. The dynamic model of a walking robot is defined in a way that allows shape-dependent foot kinetics to contribute to the robot's dynamics, for all convex foot shapes regardless of the ex…

Cited by 12Source ↗Scholar ↗
2019

On the effect of semielliptical foot shape on the energetic efficiency of passive bipedal gait

Aikaterini Smyrli, Mehdi Ghiassi, Andrés Kecskeméthy, Evangelos Papadopoulos
IROS 2019poster

This paper studies the effects of varying rollover curvature on the passive dynamic gait of a biped walker. The dynamic model of a compliant biped robot is extended with the implementation of semielliptical feet, to mimic human rollingradius progression during a step. The process of modeling the sem…

Cited by 8Source ↗Scholar ↗
2018

Efficient Stabilization of Zero-Slope Walking for Bipedal Robots Following Their Passive Fixed-Point Trajectories

Aikaterini Smyrli, Georgios A. Bertos, Evangelos Papadopoulos
ICRA 2018poster

This paper presents an efficient method of stabilizing the gait of an underactuated biped with compliant legs and semicircular feet. First, the model is defined, incorporating elements that are often present in experimental biped robots. The biped's passive behavior is studied through numerical simu…

Cited by 10Source ↗Scholar ↗