George A. Rovithakis — accepted AI-conference papers

2023

Enforcing Constraints for Dynamic Obstacle Avoidance by Compliant Robots

Leonidas Koutras, Konstantinos Vlachos, George S. Kanakis, Fotios Dimeas, Zoe Doulgeri, George A. Rovithakis

ICRA 2023poster

In this work a control scheme is proposed to enforce dynamic obstacle avoidance constraints to the full body of actively compliant robots. We argue that both compliance and accuracy are necessary to build safe collaborative robotic systems; obstacle avoidance is usually not enough, due to the relian…

Cited by 3 Source ↗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 21 Source ↗Scholar ↗

2015

An impedance control modification guaranteeing compliance strictly within preselected spatial limits

Achilles Theodorakopoulos, George A. Rovithakis, Zoe Doulgeri

IROS 2015poster

In this work a modification of a Cartesian impedance controller is presented. The proposed controller guarantees compliance of the operated manipulator strictly within preselected spatial limits. Specifically, by introducing a nonlinear stiffness term into the control design, the manipulator is prev…

Cited by 3 Source ↗Scholar ↗