Konstantinos Vlachos — 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 ↗

2020

A Control Scheme With a Novel DMP-Robot Coupling Achieving Compliance and Tracking Accuracy Under Unknown Task Dynamics and Model Uncertainties

Konstantinos Vlachos, Zoe Doulgeri

RA-L 2020

A control scheme consisting of a novel coupling of a DMP based virtual reference with a low stiffness controlled robot is proposed. The overall system is proved to achieve superior tracking of a DMP encoded trajectory and accurate target reaching with respect to the conventional scheme under the pre

Cited by 8 Source ↗Scholar ↗