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Yiannis Karayiannidis

26 accepted papers

2026

Decentralized Admittance Control for a Multi–manipulator System: Theory and Experiments

Graziano Carriero, Monica Sileo, Sebastiano Fregnan, Francesco Pierri, Fabrizio Caccavale, Yiannis Karayiannidis
ICRA 2026poster

This paper presents a decentralized control framework for cooperative object transportation with multiple robotic manipulators. In particular two admittance schemes are designed in order to regulate external contact wrenches and internal interaction wrenches without a central unit or all-to-all comm…

Cited by 0Scholar ↗
2025

Decentralized admittance control for a multi-manipulator system: implementation and analysis

Graziano Carriero, Monica Sileo, Sebastiano Fregnan, Marko Guberina, Francesco Pierri, Fabrizio Caccavale +1
IROS 2025

A decentralized strategy for object transportation is presented, assuming that the object is grasped by a team of N cooperative manipulators. The proposed strategy consists of two steps. First, each robot estimates the wrenches applied to the object by all the others robots, even without all-to-all

Cited by 0Source ↗Scholar ↗
2025

Optimization-Based Path-Velocity Control for Time-Optimal Path Tracking under Uncertainties

Zheng Jia, Yiannis Karayiannidis, Björn Olofsson
IROS 2025

This paper addresses the path-tracking problem of time-optimal trajectories under model uncertainties, by proposing a real-time predictive scaling algorithm. The algorithm is formulated as a convex optimization problem, designed to balance the trade-off between improving feasibility and time optimal

Cited by 0Source ↗Scholar ↗
2024

Force-based semantic representation and estimation of feature points for robotic cable manipulation with environmental contacts

Andrea Monguzzi, Yiannis Karayiannidis, Paolo Rocco, Andrea Maria Zanchettin
ICRA 2024poster

This work demonstrates the utility of dual-arm robots with dual-wrist force-torque sensors in manipulating a Deformable Linear Object (DLO) within an unknown environment that imposes constraints on the DLO’s movement through contacts and fixtures. We propose a strategy to estimate the pose of unknow…

Cited by 0Source ↗Scholar ↗
2023

Learning Continuous Normalizing Flows For Faster Convergence To Target Distribution via Ascent Regularizations

Shuangshuang Chen, Sihao Ding, Yiannis Karayiannidis, Mårten Björkman
ICLR 2023poster

Normalizing flows (NFs) have been shown to be advantageous in modeling complex distributions and improving sampling efficiency for unbiased sampling. In this work, we propose a new class of continuous NFs, ascent continuous normalizing flows (ACNFs), that makes a base distribution converge faster t…

Cited by 4Source ↗PDF ↗Scholar ↗
2022

Feel the Tension: Manipulation of Deformable Linear Objects in Environments with Fixtures using Force Information

Finn Süberkrüb, Rita Laezza, Yiannis Karayiannidis
IROS 2022poster

Humans are able to manipulate Deformable Linear Objects (DLOs) such as cables and wires, with little or no visual information, relying mostly on force sensing. In this work, we propose a reduced DLO model which enables such blind manipulation by keeping the object under tension. Further, an online m…

Cited by 19Source ↗Scholar ↗
2022

Planning and Control for Cable-routing with Dual-arm Robot

Gabriel Arslan Waltersson, Rita Laezza, Yiannis Karayiannidis
ICRA 2022poster

In this paper, we propose a new framework for solving cable-routing problems with a dual-arm robot, where the objective is to clip a Deformable Linear Object (DLO) into several arbitrarily placed fixtures. The core of the framework is a task-space planner, which builds a roadmap from predefined task…

Cited by 25Source ↗Scholar ↗
2021

Human-robot collaborative object transfer using human motion prediction based on Cartesian pose Dynamic Movement Primitives

Antonis Sidiropoulos, Yiannis Karayiannidis, Zoe Doulgeri
ICRA 2021poster

In this work, the problem of human-robot collaborative object transfer to unknown target poses is addressed. The desired pattern of the end-effector pose trajectory to a known target pose is encoded using DMPs (Dynamic Movement Primitives). During transportation of the object to new unknown targets,…

Cited by 12Source ↗Scholar ↗
2021

Interpretability in Contact-Rich Manipulation via Kinodynamic Images

Ioanna Mitsioni, Joonatan Mänttäri, Yiannis Karayiannidis, John Folkesson, Danica Kragic
ICRA 2021poster

Deep Neural Networks (NNs) have been widely utilized in contact-rich manipulation tasks to model the complicated contact dynamics. However, NN-based models are often difficult to decipher which can lead to seemingly inexplicable behaviors and unidentifiable failure cases. In this work, we address th…

Cited by 5Source ↗code ↗Scholar ↗
2021

Monte Carlo Filtering Objectives

Shuangshuang Chen, Sihao Ding, Yiannis Karayiannidis, Mårten Björkman
IJCAI 2021poster

Learning generative models and inferring latent trajectories have shown to be challenging for time series due to the intractable marginal likelihoods of flexible generative models. It can be addressed by surrogate objectives for optimization. We propose Monte Carlo filtering objectives (MCFOs), a fa…

Cited by 0Source ↗PDF ↗code ↗Scholar ↗
2021

ReForm: A Robot Learning Sandbox for Deformable Linear Object Manipulation

Rita Laezza, Robert Gieselmann, Florian T. Pokorny, Yiannis Karayiannidis
ICRA 2021poster

Recent advances in machine learning have triggered an enormous interest in using learning-based approaches for robot control and object manipulation. While the majority of existing algorithms are evaluated under the assumption that the involved bodies are rigid, a large number of practical applicati…

Cited by 28Source ↗Scholar ↗
2021

Temporal Coupling of Dynamical Movement Primitives for Constrained Velocities and Accelerations

Albin Dahlin, Yiannis Karayiannidis
RA-L 2021

The framework of Dynamical Movement Primitives (DMPs) has become a popular method for trajectory generation in robotics. Most robotic systems are subject to saturation and/or kinematic constraints on motion variables, but DMPs do not inherently encode constraints and this may lead to poor tracking p

Cited by 13Source ↗Scholar ↗
2020

Discrete Bimanual Manipulation for Wrench Balancing

Silvia Cruciani, Diogo Almeida, Danica Kragic, Yiannis Karayiannidis
ICRA 2020poster

Dual-arm robots can overcome grasping force and payload limitations of a single arm by jointly grasping an object. However, if the distribution of mass of the grasped object is not even, each arm will experience different wrenches that can exceed its payload limits. In this work, we consider the pro…

Cited by 4Source ↗Scholar ↗
2018

Cooperative Manipulation and Identification of a 2-DOF Articulated Object by a Dual-Arm Robot

Diogo Almeida, Yiannis Karayiannidis
ICRA 2018poster

In this work, we address the dual-arm manipulation of a two degrees-of-freedom articulated object that consists of two rigid links. This can include a linkage constrained along two motion directions, or two objects in contact, where the contact imposes motion constraints. We formulate the problem as…

Cited by 11Source ↗Scholar ↗
2016

A Model-Free Controller for Guaranteed Prescribed Performance Tracking of Both Robot Joint Positions and Velocities

Yiannis Karayiannidis, Dimitrios Papageorgiou, Zoe Doulgeri
RA-L 2016

The problem of robot joint position and velocity tracking with prescribed performance guarantees is considered. The proposed controller is able to guarantee a prescribed transient and steady state behavior for the position and the velocity tracking errors without utilizing either the robot dynamic m

Cited by 74Source ↗Scholar ↗
2016

Adaptive control for pivoting with visual and tactile feedback

Francisco Eli Vina Barrientos, Yiannis Karayiannidis, Christian Smith, Danica Kragic
ICRA 2016

In this work we present an adaptive control approach for pivoting, which is an in-hand manipulation maneuver that consists of rotating a grasped object to a desired orientation relative to the robot's hand. We perform pivoting by means of gravity, allowing the object to rotate between the fingers of

Cited by 73Source ↗Scholar ↗
2015

Cooperative control of a serial-to-parallel structure using a virtual kinematic chain in a mobile dual-arm manipulation application

Yuquan Wang, Christian Smith, Yiannis Karayiannidis, Petter Ögren
IROS 2015poster

In the future mobile dual-arm robots are expected to perform many tasks. Kinematically, the configuration of two manipulators that branch from the same common mobile base results in a serial-to-parallel kinematic structure, which makes inverse kinematic computations non-trivial. The motion of the ba…

Cited by 12Source ↗Scholar ↗
2015

In-hand manipulation using gravity and controlled slip

Francisco E. Viña B., Yiannis Karayiannidis, Karl Pauwels, Christian Smith, Danica Kragic
IROS 2015poster

In this work we propose a sliding mode controller for in-hand manipulation that repositions a tool in the robot's hand by using gravity and controlling the slippage of the tool. In our approach, the robot holds the tool with a pinch grasp and we model the system as a link attached to the gripper via…

Cited by 51Source ↗Scholar ↗