Konstantinos Koutsoukis — accepted AI-conference papers

2024

Vinymap: a Vineyard Inspection and 3D Reconstruction Framework for Agricultural Robots

Ioannis Zarras, Athanasios Mastrogeorgiou, Konstaninos Machairas, Konstantinos Koutsoukis, Evangelos Papadopoulos

IROS 2024poster

Efficient and thorough vineyard inspection is crucial for optimizing yield and preventing disease from spreading. Manual approaches are labor-intensive and prone to human error, motivating the development of automated solutions. Precision viticulture benefits greatly from access to photo-realistic 3…

Cited by 0 Source ↗Scholar ↗

2021

On the Effect of Robotic Leg Design on Energy Efficiency

Konstantinos Koutsoukis, Evangelos Papadopoulos

ICRA 2021poster

In this paper, we study the effect of alternative leg designs on energy consumption in legged locomotion. Focusing on gaits with constant horizontal velocity and constant height we introduce models of two simplified parallel and serial designs with realistic mechanical and actuation parameters. The…

Cited by 9 Source ↗Scholar ↗

2017

A leg design method for high speed quadrupedal locomotion

Spyridon Dallas, Konstantinos Machairas, Konstantinos Koutsoukis, Evangelos Papadopoulos

IROS 2017poster

This paper introduces a leg design method aiming at speed maximization for quadruped robots with two-segment compliant legs, in trotting and bounding. The proposed method is an effort to address the leg design challenge in a holistic way, exploiting the coupling between gait parameters, leg design p…

Cited by 7 Source ↗Scholar ↗

2016

On passive quadrupedal bounding with translational spinal joint

Konstantinos Koutsoukis, Evangelos Papadopoulos

IROS 2016poster

This paper studies the effect of a flexible linear torso on the dynamics of passive quadruped bounding. A reduced-order passive and conservative model with translational spinal joint and springy legs is introduced. Numerical return map studies reveal the existence of a confined area of fixed points…

Cited by 11 Source ↗Scholar ↗