Search results for: Zoe Doulgeri

Items from 1 to 20 out of 30 results

article

A human inspired handover policy using Gaussian Mixture Models and haptic cues

Antonis Sidiropoulos, Efi Psomopoulou, Zoe Doulgeri

Autonomous Robots > 2019 > 43 > 6 > 1327-1342

A handover strategy is proposed that aims at natural and fluent robot to human object handovers. For the approaching phase, a globally asymptotically stable dynamical system (DS) is utilized, trained from human demonstrations and exploiting the existence of mirroring in the human wrist motion. The DS operates in the robot task space thus achieving independence with respect to the robot platform, encapsulating...

article

Dynamical System Based Robotic Motion Generation With Obstacle Avoidance

Sotiris Stavridis, Dimitrios Papageorgiou, Zoe Doulgeri

IEEE Robotics and Automation Letters > 2017 > 2 > 2 > 712 - 718

The problem of real-time motion generation to a target with obstacle avoidance is considered. A second-order dynamical system having the target as a unique globally asymptotically stable equilibrium is modified in the presence of obstacles by an additive signal whose design is based on the prescribed performance control methodology. It is proved that obstacle avoidance and dynamical system stability...

chapter

A fast robot deployment strategy for successful snap assembly

Yiannis Koveos, Dimitrios Papageorgiou, Stefanos Doltsinis, Zoe Doulgeri

2016 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) > 80 - 85

2016 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)

The snap assembly of two small parts in a semi-structured environment is considered. This work proposes a task-based variable impedance solution strategy that allows one arm/hand robotic system to extract assembly haptic cues via pHRI and subsequently achieve autonomously the desired objective with extrinsic dexterity. A wavelet pattern is extracted from the estimated force derivatives during a cooperative...

chapter

Operational space robot control for motion performance and safe interaction under Unintentional Contacts

Yiannis Karayiannidis, Leonidas Droukas, Zoe Doulgeri

2016 European Control Conference (ECC) > 407 - 412

2016 European Control Conference (ECC)

A control law achieving motion performance of quality and compliant reaction to unintended contacts for robot manipulators is proposed in this work. It achieves prescribed performance evolution of the position error under disturbance forces up to a tunable level of magnitude. Beyond this level, it deviates from the desired trajectory complying to what is now interpreted as unintentional contact force,...

chapter

Robot finger control for rolling on curved surfaces

Leonidas Droukas, George A. Rovithakis, Zoe Doulgeri

2016 24th Mediterranean Conference on Control and Automation (MED) > 557 - 562

2016 24th Mediterranean Conference on Control and Automation (MED)

In this work the problem of designing a low complexity state feedback controller which enforces the domination of the rolling motion of a spherical robotic fingertip upon a curved surface is considered. Fingertip rolling is essential for robot object fine positioning and manipulation and should be explicitly considered as a control objective. The prescribed performance control methodology is employed...

chapter

A passivity based control signal guaranteeing joint limit avoidance in redundant robots

Dimitrios Papageorgiou, Abdelrahem Atawnih, Zoe Doulgeri

2016 24th Mediterranean Conference on Control and Automation (MED) > 569 - 574

2016 24th Mediterranean Conference on Control and Automation (MED)

In this work we propose a torque control signal that guarantees joint limit avoidance of a redundant arm. Its design is based on the prescribed performance control methodology that enables guarantees on the satisfaction of inequality constraints regarding the system output. It is proved that the proposed signal preserves the passivity of closed loop robot dynamics with respect to joint velocities...

article

Kinematic control of redundant robots with guaranteed joint limit avoidance

Abdelrahem Atawnih, Dimitrios Papageorgiou, Zoe Doulgeri

Robotics and Autonomous Systems > 2016 > 79 > C > 122-131

A novel approach for addressing the inverse differential kinematics of redundant manipulators in the presence of hard joint position constraints is presented. A prescribed performance signal for joint limit avoidance guarantees is proposed that can be utilized with both planned and on-line generated trajectories. In the first case, it is a null space velocity for the primary task velocity mapping...

chapter

Robot Force/Position Tracking on a Surface of Unknown Orientation

Yiannis Karayiannidis, Zoe Doulgeri

Springer Tracts in Advanced Robotics > European Robotics Symposium 2008 > 253-262

Summary The problem of robot force and position trajectory tracking is revisited in the case of an uncertain mapping of a surface into the robot space; then, although it is possible to define the desired trajectories with respect to the constraint surface, the lack of knowledge of the constraint direction in the robot space, means that the position and force control subspaces are uncertain. Such a...

article

Rolling Contact Motion Generation and Control of Robotic Fingers

Leonidas Droukas, Zoe Doulgeri

Journal of Intelligent & Robotic Systems > 2016 > 82 > 1 > 21-38

Dexterity in human hand is connected with the fingertip rolling ability. In this work we consider rolling motion of spherical robotic fingertips as one of the control objectives together with the set point position control and force trajectory tracking. The generation of a rolling motion trajectory is proposed and a control solution is designed which achieves prescribed transient and steady state...

article

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

Yiannis Karayiannidis, Dimitrios Papageorgiou, Zoe Doulgeri

IEEE Robotics and Automation Letters > 2016 > 1 > 1 > 267 - 273

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 model or any approximation structures. Its performance is demonstrated and assessed via experiments with...

chapter

Joint position tracking with prescribed performance of uncertain robotic manipulators using only joint position measurements

Dimitrios Papageorgiou, Ilias Katsoukis, George A. Rovithakis, Zoe Doulgeri

2015 54th IEEE Conference on Decision and Control (CDC) > 1503 - 1508

2015 54th IEEE Conference on Decision and Control (CDC)

We consider joint position tracking of a desired reference trajectory for a n-dof robotic manipulator, utilizing only joint position measurements. The proposed controller is structurally and computationally simple and achieves prescribed transient and steady state performance bounds on the joint position tracking error. Knowledge of the actual robot dynamics is not required. Furthermore, no approximating...

article

Prescribed Performance Tracking of a Variable Stiffness Actuated Robot

Efi Psomopoulou, Achilles Theodorakopoulos, Zoe Doulgeri, George A. Rovithakis

IEEE Transactions on Control Systems Technology > 2015 > 23 > 5 > 1914 - 1926

This paper is concerned with the design of a state feedback control scheme for variable stiffness actuated (VSA) robots, which guarantees prescribed performance of the tracking errors despite the low range of mechanical stiffness. The controller does not assume knowledge of the actual system dynamics nor does it utilize approximating structures (e.g., neural networks and fuzzy systems) to acquire...

chapter

A human inspired stable object load transfer for robots in hand-over tasks

Efi Psomopoulou, Zoe Doulgeri

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) > 491 - 496

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

A human-inspired hand-over control strategy is proposed for the haptic interaction of two dual-fingered hands for the planar case. It is based on a grasp controller for an unknown object which achieves, via fingertip rolling, a stable grasp and a real object mass estimation. Object load transfer is receiver initiated, follows human evidence and involves awareness of the other hand's state based solely...

chapter

Force/position/rolling control for spherical tip robotic fingers

Leonidas Droukas, Yiannis Karayiannidis, Zoe Doulgeri

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) > 858 - 863

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

The rolling motion of a soft robotic fingertip is in this paper explicitly included in the control objectives together with the force/position regulation targets. A model based control law is proposed to linearize and decouple the system with respect to the force/position and sliding dynamics based on an appropriately defined task Jacobian. The controller is validated by simulations including rolling...

chapter

An impedance control modification guaranteeing compliance strictly within preselected spatial limits

Achilles Theodorakopoulos, George A. Rovithakis, Zoe Doulgeri

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) > 2210 - 2215

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

In this work a modification of a Cartesian impedance controller is presented. The proposed controller guarantees compliance of the operated manipulator strictly within preselected spatial limits. Specifically, by introducing a nonlinear stiffness term into the control design, the manipulator is prevented from colliding with an explicitly defined hard boundary, like a human being or a fragile object...

chapter

Towards achieving rolling contact motion in a spherical robotic fingertip

Leonidas Droukas, George A. Rovithakis, Zoe Doulgeri

2015 23rd Mediterranean Conference on Control and Automation (MED) > 1106 - 1111

2015 23rd Mediterranean Conference on Control and Automation (MED)

Dexterity in human hand is connected with the fingertip rolling ability. Controlling the rolling motion of a spherical robot's tip upon a contacted surface is in this work addressed by solving the control of a wheel's rolling motion, moving upon the robot tip's line path. A model free prescribed performance controller of low complexity is proposed guaranteeing the wheel's rolling under any surface...

chapter

A kinematic controller for human-robot handshaking using internal motion adaptation

Dimitrios Papageorgiou, Zoe Doulgeri

2015 IEEE International Conference on Robotics and Automation (ICRA) > 5622 - 5627

2015 IEEE International Conference on Robotics and Automation (ICRA)

This work proposes a kinematic control method for human-robot handshake motions achieving fast motion synchronization given a preset internal robot handshake motion and a compliance level that reflects the robot's level of passiveness. The proposed method combines a non-linear dynamic system having an attractive limit cycle with an admittance controller and an adaptation mechanism so that interaction...

chapter

A controller to achieve robotic soft fingertip rolling and position/force regulation using motion variables

John Fasoulas, Zoe Doulgeri

2007 European Control Conference (ECC) > 2497 - 2504

2007 European Control Conference (ECC)

In this paper we are concerned with the problem of fine positioning of a soft robotic fingertip on a flat rigid surface by evoking a rolling motion while regulating force. A simple control law is proposed that uses a reference rolling trajectory that is state dependent. The non-linear asymptotic stability of the system equilibrium is proved. Computer simulation for a planar revolute robotic finger...

article

Reaching for redundant arms with human-like motion and compliance properties

Abdelrahem Atawnih, Dimitrios Papageorgiou, Zoe Doulgeri

Robotics and Autonomous Systems > 2014 > 62 > 12 > 1731-1741

This work proposes a redundant arm torque controller for reaching, guaranteeing desired completion time and accuracy requirements without the need for trajectory planning and prior knowledge of robot dynamics. The proposed controller is designed based on the prescribed performance control methodology and it is a reaching regulator in which the target pose for the hand acts as an attractor for the...

chapter

A physical Human Robot Interaction architecture for flexible joint robots

Abdelrahem Atawnih, Zoe Doulgeri, George A. Rovithakis

22nd Mediterranean Conference on Control and Automation > 1464 - 1469

2014 22nd Mediterranean Conference of Control and Automation (MED)

In this work a physical Human Robot Interaction (pHRI) architecture for flexible joint robot is proposed. At its core, a prescribed performance tracking controller is designed at the operational space, to guarantee fast, accurate and robust position tracking. Assuming that a sensing and interpretation task of the human touch is accomplished, a position reference shaping signal reflecting the desired...

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INFONA - science communication portal

Search results for: Zoe Doulgeri

A human inspired handover policy using Gaussian Mixture Models and haptic cues

Dynamical System Based Robotic Motion Generation With Obstacle Avoidance

A fast robot deployment strategy for successful snap assembly

Operational space robot control for motion performance and safe interaction under Unintentional Contacts

Robot finger control for rolling on curved surfaces

A passivity based control signal guaranteeing joint limit avoidance in redundant robots

Kinematic control of redundant robots with guaranteed joint limit avoidance

Robot Force/Position Tracking on a Surface of Unknown Orientation

Rolling Contact Motion Generation and Control of Robotic Fingers

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

Joint position tracking with prescribed performance of uncertain robotic manipulators using only joint position measurements

Prescribed Performance Tracking of a Variable Stiffness Actuated Robot

A human inspired stable object load transfer for robots in hand-over tasks

Force/position/rolling control for spherical tip robotic fingers

An impedance control modification guaranteeing compliance strictly within preselected spatial limits

Towards achieving rolling contact motion in a spherical robotic fingertip

A kinematic controller for human-robot handshaking using internal motion adaptation

A controller to achieve robotic soft fingertip rolling and position/force regulation using motion variables

Reaching for redundant arms with human-like motion and compliance properties

A physical Human Robot Interaction architecture for flexible joint robots

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