Michael Maravgakis — accepted AI-conference papers

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 0 Source ↗Scholar ↗

2023

Probabilistic Contact State Estimation for Legged Robots using Inertial Information

Michael Maravgakis, Despina-Ekaterini Argiropoulos, Stylianos Piperakis, Panos Trahanias

ICRA 2023poster

Legged robot navigation in unstructured and slippery terrains depends heavily on the ability to accurately identify the quality of contact between the robot's feet and the ground. Contact state estimation is regarded as a challenging problem and is typically addressed by exploiting force measurement…

Cited by 18 Source ↗code ↗Scholar ↗

2022

Robust Contact State Estimation in Humanoid Walking Gaits

Stylianos Piperakis, Michael Maravgakis, Dimitrios Kanoulas, Panos Trahanias

IROS 2022poster

In this article, we propose a deep learning frame-work that provides a unified approach to the problem of leg contact detection in humanoid robot walking gaits. Our formulation accomplishes to accurately and robustly estimate the contact state probability for each leg (i.e., stable or slip/no contac…

Cited by 8 Source ↗code ↗Scholar ↗