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Dimitrios Papageorgiou

10 accepted papers

2025

A Control Scheme for Collaborative Object Transportation between a Human and a Quadruped Robot Using the MIGHTY Suction Cup

Konstantinos Plotas, Emmanouil Papadakis, Drosakis Drosakis, Panos E. Trahanias, Dimitrios Papageorgiou
ICRA 2025

In this work, a control scheme for human-robot collaborative object transportation is proposed, considering a quadruped robot equipped with the MIGHTY suction cup that serves both as a gripper for holding the object and a force/torque sensor. The proposed control scheme is based on the notion of adm

Cited by 1Source ↗Scholar ↗
2025

Optimal Torque Distribution via Dynamic Adaptation for Quadrupedal Locomotion on Slippery Terrains

Despina Ekaterini Argiropoulos, Michael Maravgakis, Changda Tian, Dimitrios Papageorgiou, Panos E. Trahanias
ICRA 2025

As legged robots continue to evolve, new control methods are being developed to provide fast, robust, accurate and computationally efficient algorithms for traversing challenging environments. This paper presents a realtime adaptive locomotion controller for quadrupeds, designed to maintain stabilit

Cited by 0Source ↗Scholar ↗
2022

Kinesthetic teaching of bi-manual tasks with known relative constraints

Sotiris Stavridis, Dimitrios Papageorgiou, Zoe Doulgeri
IROS 2022poster

Kinesthetic teaching allows the direct skill transfer from the human to the robot and has been widely used to teach single arm tasks intuitively. In the bi-manual case, simultaneously moving both end-effectors is challenging due to the high physical and cognitive load imposed to the user. Thus, prev…

Cited by 6Source ↗Scholar ↗
2021

Task geometry aware assistance for kinesthetic teaching of redundant robots

Dimitrios Papageorgiou, Sotiris Stavridis, Christos Papakonstantinou, Zoe Doulgeri
IROS 2021poster

Kinesthetic teaching allows the direct skill transfer from the human to the robot through physical human-robot interaction. However, it is heavily affected by the robot’s dynamics and the control scheme utilized for the physical interaction. In this work, we aim at assisting the human-teacher by red…

Cited by 8Source ↗Scholar ↗
2020

A control scheme for haptic inspection and partial modification of kinematic behaviors

Dimitrios Papageorgiou, Zoe Doulgeri
IROS 2020poster

Over the last decades, Learning from Demonstration (LfD) has become a widely accepted solution for the problem of robot programming. According to LfD, the kinematic behavior is "taught" to the robot, based on a set of motion demonstrations performed by the human-teacher. The demonstrations can be ei…

Cited by 2Source ↗Scholar ↗
2019

Guaranteed Active Constraints Enforcement on Point Cloud-approximated Regions for Surgical Applications

Theodora Kastritsi, Dimitrios Papageorgiou, Iason Sarantopoulos, Sotiris Stavridis, Zoe Doulgeri, George A. Rovithakis
ICRA 2019poster

In this work, a passive physical human-robot interaction (pHRI) controller is proposed to intraoperatively ensure that sensitive tissues will not be damaged by the robot's tool. The proposed scheme uses the point cloud of the restricted region's surface as constraint definition and Artificial Potent…

Cited by 21Source ↗Scholar ↗
2018

Sinc-Based Dynamic Movement Primitives for Encoding Point-to-point Kinematic Behaviors

Dimitrios Papageorgiou, Antonis Sidiropoulos, Zoe Doulgeri
IROS 2018poster

This work proposes the utilization of sinc functions as kernels of Dynamic Movement Primitives (DMP) models for encoding point-to-point kinematic behaviors. The proposed method presents a number of advantages with respect to the state of the art, as it (i) involves a simple learning technique, (ii)…

Cited by 7Source ↗Scholar ↗
2017

Dynamical System Based Robotic Motion Generation With Obstacle Avoidance

Sotiris Stavridis, Dimitrios Papageorgiou, Zoe Doulgeri
RA-L 2017

The problem of real-time motion generation to a target with obstacle avoidance is considered. A second-order dynamical system having the target as a unique globally asymptotically stable equilibrium is modified in the presence of obstacles by an additive signal whose design is based on the prescribe

Cited by 47Source ↗Scholar ↗
2016

A Model-Free Controller for Guaranteed Prescribed Performance Tracking of Both Robot Joint Positions and Velocities

Yiannis Karayiannidis, Dimitrios Papageorgiou, Zoe Doulgeri
RA-L 2016

The problem of robot joint position and velocity tracking with prescribed performance guarantees is considered. The proposed controller is able to guarantee a prescribed transient and steady state behavior for the position and the velocity tracking errors without utilizing either the robot dynamic m

Cited by 74Source ↗Scholar ↗
2015

A kinematic controller for human-robot handshaking using internal motion adaptation

Dimitrios Papageorgiou, Zoe Doulgeri
ICRA 2015poster

This work proposes a kinematic control method for human-robot handshake motions achieving fast motion synchronization given a preset internal robot handshake motion and a compliance level that reflects the robot's level of passiveness. The proposed method combines a non-linear dynamic system having…

Cited by 25Source ↗Scholar ↗