Panos E. Trahanias — accepted AI-conference 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 1 Source ↗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 0 Source ↗Scholar ↗

2018

Nonlinear State Estimation for Humanoid Robot Walking

Stylianos Piperakis, Maria Koskinopoulou, Panos E. Trahanias

RA-L 2018

This letter presents a novel cascade state estimation framework for the three-dimensional (3-D) center of mass (CoM) estimation of walking humanoid robots. The proposed framework, called State Estimation RObot Walking (SEROW), fuses effectively joint encoder, inertial, feet pressure, and visual odom

Cited by 35 Source ↗Scholar ↗