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People ■ Nikos G. Tsagarakis
Nikos G. Tsagarakis's foto

Nikos G. Tsagarakis

Tenured Scientist

ADVR / Humanoids & Human Centred Mechatronics

Senior Researcher
Address Dept. of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego 30
City Genova ZIP Code 16163
Country Italy
Phone +39 010 71781428
Fax +39 010 720321
Web Site http://www.iit.it/en/advr-labs/humanoids-human-centred-mechatronics.html

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Bio

Research Interests

 

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Projects

I am involved in the following EU projects: 

 

CENTAURO (2015-2019) Role: IIT Principal Investigaror

The CENTAURO project aims at development of a human-robot symbiotic system where a human operator is telepresent with its whole body in a Centaur-like robot, which is capable of robust locomotion and dexterous manipulation in the rough terrain and austere conditions characteristic of disasters. The CENTAURO robot will consist of a four-legged basis and an anthropomorphic upper body and will be driven by lightweight, compliant actuators. It will be able to navigate in affected man-made environments, including the inside of buildings and stairs, which are cluttered with debris and partially collapsed. 
The Centauro system will be capable of using unmodified human tools for solving complex bimanual manipulation tasks, such as connecting a hose or opening a valve, in order to relieve the situation.

 

CogiMon (2015-2019) Role: IIT Principal Investigaror

CogIMon aims to make a step in human-robot interaction toward the systemic integration of robust, dependable interaction abilities for teams of humans and compliant robots, in particular for the compliant humanoid COMAN. We focus on compliant interaction that requires motion and compliant behavior regulation of both the human(s) and the robot(s) and involves full-body variable impedance actuation, adaptability, prediction ability, dependability, flexibility, and enhanced motion. To achieve this ambitious goal, the project targets step-changes in key technologies and technology combinations that arise from novel scientific enabling concepts, interdisciplinary research on interacting humans, and engineering developments.

WALK-MAN  (2013-2017) Role: Project Coordinator

WALK-MAN aims to develop a humanoid robots that can operate in buildings that were damaged following natural and man-made disasters. The robot will demonstrate new skills including dextrous, powerful manipulation, robust balanced locomotion and physical sturdiness. This project targets to significantly advance the current walking and locomotion capabilities of humanoid systems so that the robots will be able to walk in and through cluttered spaces (walking in a crowded environment) and maintain their balance against external disturbances, such as contact and impacts with objects or people. In parallel, WAK-MAN aims to advance the manipulation capabilities of existing humanoids by developing new hand designs that combine robustness and adaptability. This will take advantage of recent developments in mechanical design and materials that allow the creation of less fragile and delicate end-effectors that are capable of grasping/manipulating traditional handtools.

SAPHARI (2011-2015) Role: IIT Principal Investigaror

Recent progress in physical Human‐Robot Interaction (pHRI) research showed in principle that human and robots can actively and safely share a common workspace. Inspired by these results, SAPHARI will perform a fundamental paradigm shift in robot development in the sense that it will place the human at the centre of the entire design. The project will take a big step further along the human‐centered roadmap by addressing all essential aspects of safe, intuitive physical interaction between humans and complex, human‐like robotic systems in a strongly interconnected manner. While encompassing safety issues based on biomechanical analysis, human‐friendly hardware design, and interaction control strategies, the project will also develop and validate key perceptive and cognitive components that enable robots to track, understand and predict human motions in a weakly structured dynamic environment in real‐time

AMARSI (2010-2014) Role: IIT Principal Investigaror

AMARSI aims to achieve a qualitative jump toward rich motor behaviour in robotic systems, rigorously following a systematic approach in which novel mechanical systems with passive compliance, control and learning solutions will be integrated. With regards to the mechanical systems with passive compliance the goal is to reduce the distinction between plant and controller that is typical in traditional control engineering and to fully exploit complex body properties, to simplify perception, control and learning and to explore how compliance can be exploited for safer human robot interaction, reduced energy consumption, simplified control, and faster and more aggressive learning.

VIACTORS (2009-2012) Role: IIT Principal Investigaror

VIACTORS addresses the development and use of safe, energy-efficient and highly dynamic variable impedance actuation systems which will permit the embodiment of natural characteristics found in biological systems into the structures of the new generation of mechatronic systems. The results of this project will deeply impact applications where successful task completion requires people and robots to collaborate directly in a shared workspace or robots to move autonomously and as efficiently as humans.

ROBOTCUB (2004-2009)

ROBOTCUB was a research initiative dedicated to the realization of embodied cognitive systems and the creation of an advanced robotic platform for neuroscientific study. The two main goals of this project are; the creation of an open hardware/software humanoid robotic platform (iCub) for research in embodied cognition and the advancing of our neural understanding of cognitive systems by exploiting this platform in the study of the development of cognitive capabilities in humanoid robots.


I was/am also involved in the following research activities:


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HUMANOIDS

ACTUATION

 HAPTICS

OTHER PROJECTS

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I am involved in the following EU projects: 

 

CENTAURO (2015-2019) Role: IIT Principal Investigaror

The CENTAURO project aims at development of a human-robot symbiotic system where a human operator is telepresent with its whole body in a Centaur-like robot, which is capable of robust locomotion and dexterous manipulation in the rough terrain and austere conditions characteristic of disasters. The CENTAURO robot will consist of a four-legged basis and an anthropomorphic upper body and will be ...

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Selected Publications

 

  • N Kashiri, M. Laffranchi, D.G.   Caldwell, N.G. Tsagarakis, “Dynamics and Control of an Anthropomorphic   Compliant Arm equipped with Friction Clutches”, IEEE/ASME Transactions on   Mechatronics (accepted), 2015
  • Wesley Roozing, Zhibin Li, Gustavo Medrano-Cerda, Darwin Caldwell, N.G. Tsagarakis, “Development and Control of a Compliant Asymmetric Antagonistic Joint for Efficient Mobility”, IEEE/ASME Transactions on Mechatronics (accepted), 2015.
  • N Kashiri, J Lee, N.G. Tsagarakis, M Van Damme, B Vanderborght, D.G. Caldwell, “Proxy-based position control of manipulators with passive compliant actuators: Stability analysis and experiments” Robotics and Autonomous Systems 2015.
  • JA Castano, A Hernandez, Z Li, N.G. Tsagarakis, DG Caldwell, “Enhancing the robustness of the EPSAC predictive control using a Singular Value Decomposition approach”, Robotics and Autonomous Systems, 2015.

  • Diego Torricelli, Jose Eduardo Gonzalez Vargas, Jan Veneman, Katja Mombaur, N.G. Tsagarakis, Antonio J. del-Ama, Angel Gil-Agudo, Juan Camilo Moreno, Jose Luis Pons,  “Benchmarking bipedal locomotion in humanoids, wearable robots and humans: a unified scheme", Robotics and Automation Magazine (accepted), 2015.

  • Amir Jafari, N.G. Tsagarakis, Darwin Caldwell, “Energy Efficient Actuators with Adjustable Stiffness; A Review on AwAS, AwAS-II and CompACT VSA, Changing Stiffness Based on Lever Mechanism, Industrial Robot, 2015.

  • Nikos      Karavas, Arash Ajoudani, N. G. Tsagarakis, Jody Saglia, Antonio      Bicchi, Darwin G. Caldwell, “Tele-impedance based Assistive Control for a      Compliant Knee Exoskeleton”, Robotics and Autonomous Systems 2014      (accepted).
  • M      Laffranchi, L Chen, N Kashiri, J Lee, N.G Tsagarakis, DG Caldwell,      “Development and control of a series elastic actuator equipped with a semi      active friction damper for human friendly robots”, Robotics and Autonomous      Systems, 2014 (accepted).
  • J.A.      Castano, A. Hernandez, Z. Li, C. Zhou, N.G. Tsagarakis, D.G. Caldwell, R. De Keyser, “Implementation      of Robust EPSAC on dynamic walking of COMAN Humanoid”, World Congress of      the International Federation of Automatic Control (IFAC), Cape Town, South      Africa (2014)
  • Navvab      Kashiri, Matteo Laffranchi, Jinoh Lee, N.G. Tsagarakis, Lisha Chen, Darwin Caldwell, “Real-time      damping estimation for variable impedance actuators”, IEEE International      Conference on Robotics and Automation (ICRA), Hong Kong, China (2014),      pp1072-1077.
  • J      Lee, M Laffranchi, N Kashiri, N.G.      Tsagarakis, DG Caldwell, “Model-free force tracking control of      piezoelectric actuators: Application to variable damping actuator”, IEEE      International Conference on Robotics and Automation (ICRA), Hong Kong,      China (2014), pp2283-2289.
  • N. Kashiri, M. Laffranchi, N.G.  Tsagarakis, A. Margan, D.G. Caldwell,      "Physical interaction detection and control of compliant manipulators      equipped with friction clutches", IEEE International Conference on      Robotics and Automation (ICRA), Hong Kong, China (2014), pp1066-1071.
  • A Brygo, I Sarakoglou, N Garcia-Hernandez, N.G. Tsagarakis, “Humanoid Robot Teleoperation with Vibrotactile Based Balancing Feedback, Springer Haptics: Neuroscience, Devices, Modeling, and Applications, 266-275, 2014.
  • C. Zhou, Z. Li, J.A. Castano, H. Dallali, N.G. Tsagarakis, D.G. Caldwell, "Stabilization of      Humanoid Robots Using Body Compliance Control", IEEE International      Conference on Robotics and Automation (ICRA), Hong Kong, China (2014),      pp1487-1492.
  • Ioannis      Sarakoglou, N. G Tsagarakis,      Darwin G Caldwell, “Development of a hybrid actuator with controllable      mechanical damping”, IEEE International Conference on Robotics and      Automation (ICRA), Hong Kong, China (2014), pp1078-1083
  • A.      Ajoudani, N.G. Tsagarakis, J.      Lee, M. Gabiccini, A. Bicchi, "Natural Redundancy Resolution in      Dual-Arm Manipulation using Configuration Dependent Stiffness (CDS)      Control", IEEE International Conference on Robotics and Automation      (ICRA), Hong Kong, China (2014)
  • L.      Colasanto, N.Y. Perrin, N.G.      Tsagarakis, D.G. Caldwell, “Dynamically Transitioning between Surfaces      of Varying Inclinations to Achieve Uneven-Terrain Walking”, IEEE      International Conference on Robotics and Automation (ICRA), Hong Kong,      China (2014), pp210-215.
  • M.      Mosadeghzad, N.G. Tsagarakis,      G. Medrano-Cerda, D.G. Caldwell, "Power Efficient Balancing Control      for Humanoids based on Approximate Optimal Ankle Compliance      Regulation", IEEE International Conference on Robotics and Automation      (ICRA), Hong Kong, China (2014)
  • A.      Settimi, C. Pavan, V. Varricchio, M. Ferrati, E. Mingo Hoffman, A. Rocchi,      K. Melo, N.G. Tsagarakis, A.      Bicchi, “A modular approach for remote operation of humanoid robots in      search and rescue scenarios”, Modelling and Simulation for Autonomous      Systems Workshop (MESAS), Roma, Italy (2014)
  • E.      Mingo, S. Traversaro, A. Rocchi, M. Ferrati, A. Settimi, F. Romano, L.      Natale, A. Bicchi, G. Greco, F. Nori, N.G.      Tsagarakis, “Yarp Based Plugins for Gazebo Simulator”, Modelling and      Simulation for Autonomous Systems Workshop (MESAS), Roma, Italy (2014)
  • Nadia      Garcia-Hernandez, Federica Bertolotto, Ferdinando Cannella, N.G.      Tsagarakis and Darwin Caldwell, "How the Tactor Size and Density      of Normal Indentation Tactile Displays Affect Grating Discrimination      Tasks", IEEE Trans. on Haptics (accepted).
  • Arash      Ajoudani, Sasha-B Godfrey, Matteo Bianchi, Manuel Catalano, Giorgio      Grioli, N.G Tsagarakis, and Antonio Bicchi, “Exploring      Teleimpedance and Tactile Feedback for Intuitive Control of the Pisa/IIT      SoftHand”, IEEE Trans. on Haptics, Vol. 7, Issue 2, 2014, pp 203-215.
  • J      Iqbal, N.G. Tsagarakis, DG Caldwell, “Human hand compatible under      actuated exoskeleton robotic system”, Electronics Letters 50 (7), 2014,      pp494-496.
  • Jamshed      Iqbal, Hamza Khan , N. G. Tsagarakis  and Darwin G. Caldwell,      “A novel exoskeleton robotic system for hand rehabilitation –      Conceptualization to prototyping”, Elsevier Journal Biocybernetics and      Biomedical Engineering, Volume 34, Issue 2, 2014, pp 79–89.
  • Barkan      Ugurlu, Jody A. Saglia, N. G. Tsagarakis, Stephen Morfey, and      Darwin G. Caldwell, Bipedal Hopping Pattern Generation for Passively      Compliant Humanoids: Exploiting the Resonance, IEEE Transactions on      Industrial Electronics, vol. 61, no. 10, October 2014, pp. 5431-5443.
         B. Vanderborght, A. Albu-Schaeffer, A. Bicchi, E. Burdet, D.G. Caldwell,      R. Carloni, M. Catalano, O. Eiberger, W. Friedl, G.Ganesh, M. Garabini, M.      Grebenstein, G. Grioli, S. Haddadin, H. Hoppner, A.Jafari, M. Laffranchi,      D. Lefeber, F. Petit, S. Stramigioli, N. G. Tsagarakis, M. Van      Damme, R. Van Ham, L.C. Visser, S. Wolf., “Variable Impedance Actuators: a      Review”, Robotic and Autonomous Systems, 61 (12), pp1601-1614,  2013
  • H.      Dallali, M. Mosadeghzad, G. Medrano-Cerda, V.-G. Loc, N.G. Tsagarakis,      D. Caldwell, M. Gesino, "Designing a High Performance Humanoid Robot      Based on Dynamic Simulation", European Modelling Symposium (EMS),      Manchester, UK (2013)
  • N.G.Tsagarakis, S. Morfey,      G.Medrano-Cerda, H. Dallali, D.G.Caldwell, “An Asymmetric Compliant      Antagonistic Joint Design for High Performance Mobility“, IEEE      International Conference on Intelligent Robots and Systems (IROS), 2013,      pp 5512-5517.
  • Zhibin      Li, N.G. Tsagarakis, D.G. Caldwell, “Stabilizing Humanoids on      Slopes Using Terrain Inclination Estimation”, IEEE International      Conference on Intelligent Robots and Systems (IROS), 2013, pp 4124-4129.
  • L.      Chen, M.Laffranchi,J. Lee, N. Kashiri, N.G.Tsagarakis, D.G.      Caldwell, “Link Position Control of a Compliant Actuator with Unknown      Transmission Friction Torque”, IEEE International Conference on      Intelligent Robots and Systems (IROS), 2013, pp 4058-4064.
  • M.Mosadeghzad,      Zhibin Li, N.G.Tsagarakis, G.Medrano-Cerda, H. Dallali,      D.G.Caldwell, “Optimal Ankle Compliance Regulation for Humanoid Balancing      Control”, IEEE International Conference on Intelligent Robots and Systems      (IROS), 2013, pp 4118-4123.  
  • Nicolas      Perrin, N.G. Tsagarakis, D.G. Caldwell, “Compliant Attitude Control      and Stepping Strategy for Balance Recovery with the Humanoid COMAN”, IEEE      International Conference on Intelligent Robots and Systems (IROS), 2013,      pp 4145-4151.
  • A.      Ajoudani, SB. Godfrey, M. Catalano, G. Grioli, N. G. Tsagarakis and      A. Bicch, "Teleimpedance Control of a Synergy-Driven Anthropomorphic      Hand", IEEE International Conference on Intelligent Robots and      Systems, IROS 2013, pp 1985-1991.
  • E.      Spyrakos-Papastavridis, G. Medrano-Cerda, N. G. Tsagarakis, J. S.      Dai and D. G. Caldwell, 'A Compliant Humanoid Walking Strategy Based on      the Switching of State Feedback Gravity Compensation Controllers,'      IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS      2013, pp 3630-3636.
  • Jinoh      Lee, Houman Dallali, N.G. Tsagarakis, Darwin G. Caldwell,      "Robust and Model-free Link Position Tracking Control for Humanoid      COMAN with Multiple Compliant Joints," 2013 IEEE-RAS International      Conference on Humanoid Robots (Humanoids 2013), Atlanta, USA, pp1-7, Oct.      15-17, 2013
  • E.      Mingo Hoffman, N. Perrin, N.G. Tsagarakis, D.G. Caldwell,      "Upper limb compliant strategy exploiting external physical      constraints for humanoid fall avoidance", IEEE-RAS International      Conference on Humanoid Robots (Humanoids), Atlanta, Georgia, USA (2013)
  • F.L.      Moro, M. Gienger, A. Goswami, N.G. Tsagarakis, D.G. Caldwell,      "An Attractor-based Whole-Body Motion Control (WBMC) System for      Humanoid Robots”, IEEE-RAS International Conference on Humanoid Robots      (Humanoids), Atlanta, Georgia, USA (2013)
  • N.      Kashiri, M. Laffranchi, N. G. Tsagarakis, D.G. Caldwell, “On the      Stiffness Design of Intrinsic Compliant Manipulators”, IEEE Advanced      Intelligent Mechatronics, AIM 2013, pp 1306-1311. 
  • N.      Kashiri, M. Laffranchi, N. G. Tsagarakis, I. Sardellitti, D.G.      Caldwell, "Dynamic Modeling and Adaptable Control of the CompActTM      Arm", IEEE International Conference on Mechatronics, ICM 2013, pp      477-482.
  • E.      Spyrakos-Papastavridis, G. Medrano-Cerda, N. G. Tsagarakis, J. S.      Dai and D. G. Caldwell, 'A Push Recovery Strategy for a Passively Compliant      Humanoid Robot using Decentralized LQR Controllers,' IEEE International      Conference on Mechatronics, ICM 2013, pp464 - 470.
  • F.L.      Moro,  N.G. Tsagarakis, D.G.           Caldwell, "Walking in the Resonance with the COMAN Robot with      Trajectories based on Human Kinematic Motion Primitives (kMPs)",      Autonomous Robots, 2013.
  • Zhibin      Li, N.G.Tsagarakis, Darwin G. Caldwell, “Walking Pattern Generation      for a HumanoidvRobot with Compliant Joints”, Autonomous Robots, Volume 35,      Issue 1, pp1-14, 2013.
  • F.L.      Moro, A. Spröwitz, A. Tuleu, M. Vespignani, N.G. Tsagarakis, A.J.      Ijspeert, D.G.      Caldwell, "Horse-Like Waling,      Trotting and Galloping derived from      Kinematic      Motion Primitives (kMPs) and their Application to Walk/Trot Transitions           in a Compliant Quadruped Robot" , Biological      Cybernetics, Jun;107(3), pp309-320, 2013.
  • Federico      L. Moro, N.      G. Tsagarakis, D. G. Caldwell,      “On the kinematic Motion Primitives      (kMPs) –      theory and application”, Frontiers in Neurorobotics, 2012; 6: 10.
  • N.G.           Tsagarakis, Stephen Morfey, Gustavo           Medrano-Cerda, Zhibin Li, Darwin G. Caldwell,      “Compliant Humanoid COMAN:      Optimal Joint      Stiffness Tuning for Modal Frequency Control”, IEEE           International Conference on Robotics and      Automation, ICRA 2013, pp 673-678.
  • Lisha      Chen, Manolo Garabini, Matteo Laffranchi, Navvab           Kashiri, N.G. Tsagarakis,      Antonio Bicchi,      Darwin G. Caldwell, “Optimal Control for Maximizing           Velocity of the CompActTM Compliant Actuator”,      IEEE International      Conference on Robotics and      Automation, ICRA 2013, pp 516-522.
  • Nikolaos      Karavas, Arash Ajoudani, N.G. Tsagarakis, Jody Alessandro Saglia,      Antonio Bicchi,      Darwin G. Caldwell,      “Tele-Impedance Based Stiffness and Motion           Augmentation for a Knee Exoskeleton Device”, IEEE International Conference           on Robotics and Automation, ICRA 2013, pp      2194-2220..
  • Arash      Ajoudani*, Marco Gabiccini, N.G. Tsagarakis, Antonio Bicchi,      “Human-Like Impedance and      Minimum Effort Control      for Natural and Efficient Manipulation”, IEEE      International      Conference on Robotics and Automation, ICRA 2013, pp 4499-4505.
  • Emmanouil      Spyrakos-Papastavridis, Gustavo      Medrano-Cerda, N.G.      Tsagarakis,      Jian Dai, Darwin G. Caldwell,      “Gravity Compensation Control of Compliant      Joint      Systems with Multiple Drives”, IEEE International Conference on           Robotics and Automation, ICRA 2013, pp 4960-4966.
  • N.G.Tsagarakis     
         and D.G.Caldwell, “A Haptic System for Aiding the Weak Upper Limb Motion           during Mouse based Interaction”, IEEE      Transactions Human Machine Systems, Vol      43 ,      Issue: 2, pp177-187, 2013.
  • Arash      Ajoudani, Marco Gabiccini, N.G. Tsagarakis,           Alin Albu-Schäffer, Antonio Bicchi,      “TeleImpedance: Exploring the Role of      Common-Mode      and Configuration Dependant Stiffness ”, IEEE Humanoids, 2012, pp 363-369.
  • Alberto      Parmiggiani, Giorgio Metta, N.G. Tsagarakis,           “The Mechatronic Design of the New Legs of the      Icub Robot”, IEEE Humanoids 2012, pp 481-486.
  • Sylvain      Calinon, Zhibin Li, Tohid Alizadeh, N.G.           Tsagarakis, Darwin G. Caldwell, “Statistical Dynamical Systems for           Skills Acquisition in Humanoids”, IEEE Humanoids,      2012, pp 323-329.
  • Zhibin      Li, N.G. Tsagarakis, D.G. Caldwel, “A           Passivity Based Admittance Control for Stabilizing the Compliant Humanoid      COMAN”,      IEEE Humanoids 2012, pp 44-49 (Nominated      for      Best Paper Award).
  • Amir      Jafari, N. G. Tsagarakis, Irene Sardellitti           and Darwin G. Caldwell , “A New Actuator with      Adjustable Stiffness based      on a Variable Ratio      Lever Mechanism”, IEEE Transactions Mechatronics           (accepted).
  • Dongming      Gan, N.G.Tsagarakis, Jian S. Dai, Dai,           Darwin G. Caldwell, Lakmal D. Seneviratne, “Stiffness Design for a spatial           3-DOF Serial Compliant Manipulator Based on      Impact Configuration      Decomposition”, ASME Transaction      Journal of Mechanisms and Robotics,vol 5,  2013.
  • Sarakoglou      , N. G. Hernandez, N.G. Tsagarakis      and      D.G.Caldwell, “A High Performance Tactile Feedback Display and its           Integration in Teleoperation, IEEE Transactions      on Haptics, vol.5, no. 3,      pp. 252-263, 2012.
  • Bram      Vanderborght, Alin Albu-Schäffer, Antonio Bicchi,           Etienne Burdet, Darwin G. Caldwell, Raffaella Carloni, Manuel Catalano,           Gowrishankar Ganesh, Manolo Garabini, Giorgio      Grioli, Sami Haddadin, Amir      Jafari, Matteo      Laffranchi, Dirk Lefeber, Florian Petit, Stefano           Stramigioli, N.G. Tsagarakis, Michaël Van Damme, Ronald Van Ham,           Ludo C. Visser, Sebastian Wolf, Markus      Grebenstein, “Variable Impedance      Actuators:      Moving the Robots of Tomorrow”, International Conference on           Intelligent Robots and Systems (IROS 2012),      pp5454-5455.
  • Efi      Psomopoulou, Zoe Doulgeri, George A. Rovithakis and           N.G. Tsagarakis, “A Simple Controller for      a Variable Stiffness      Joint with Uncertain      Dynamics and Prescribed Performance Guarantees”,           International Conference on Intelligent Robots and Systems (IROS 2012), pp           5071-5076.
  • Petar Kormushev, Barkan Ugurlu, Luca Colasanto, N.G.           Tsagarakis, Darwin G. Caldwell, “The Anatomy of a Fall:      Automated      Real-Time Analysis of Raw Force Sensor      Data from Bipedal Walking Robots      and Humans”,      International Conference on Intelligent Robots and Systems           (IROS 2012), pp 3706-3713.
  • Luca      Colasanto, N.G. Tsagarakis, Zhibin Li,           Darwin G. Caldwell, “Internal Model Control Strategy in Cartesian Space           for a Compliant Humanoid Robot“, International      Conference on Intelligent      Robots and Systems (IROS      2012), pp 5347-5352 .
  • Matteo      Laffranchi, Lisha Chen, N.G. Tsagarakis,           Darwin G. Caldwell , “The Role of Physical Damping in Compliant Actuation           Systems” ,International Conference on Intelligent      Robots and Systems (IROS      2012), pp 3079-3085.
  • Ioannis      Sarakoglou, Nadia Vanessa Garcia Hernandez, N.G.Tsagarakis,           Darwin G. Caldwell,“Integration of a Tactile      Display in Teleoperation of a      Soft Robotic Finger      Using Model Based Tactile Feedback”, International           Conference on Intelligent Robots and Systems      (IROS 2012), pp 46-51.
  • Lisha      Chen, Matteo Laffranchi, N.G. Tsagarakis,           and Darwin G. Caldwell, „A Novel Curve Fitting-Based Discrete Velocity           Estimator for High Performance Motion Control“,      IEEE Advanced Intelligent      Mechatronics, (AIM      2012), pp 1060-1065.
  • Mohamad Mosadeghzad, Gustavo. A. Medrano-Cerda, Jody.           A. Saglia, N. G. Tsagarakis and Darwin.      G. Caldwell, “Comparison of      Various Active      Impedance Control Approaches, Modeling, Implementation,           Passivity, Stability and Trade-offs”, IEEE      Advanced Intelligent      Mechatronics, (AIM 2012), pp      342-348.
  • Nikos      C. Karavas, N.G.Tsagarakis and Darwin G.           Caldwell , “Design, Modeling and Control of a Series Elastic Actuator for           an Assistive Knee Exoskeleton”, BioRob2012,      pp1813-1819.
  • L.      Colasanto, N.G. Tsagarakis, DG Caldwell, “A           Compact Model for the Compliant Humanoid Robot      COMAN”, BioRob 2012, pp      688-694.
  • Matteo      Laffranchi, N.G.Tsagarakis and Darwin G.           Caldwell , “The role of Physical Damping in Compliant Robotic Joints”,           IEEE Transactions Mechatronics (accepted).
  • Amir      Jafari, N.G.Tsagarakis and Darwin G.           Caldwell , “A Novel Intrinsically Energy Efficient Development of a Novel           Actuator with Adjustable Stiffness (AwAS)”, IEEE      Transactions on      Mechatronics, vol 18, issue 1,      pp355 – 365.
  • Barkan      Ugurlu, Jody Saglia, N.G. Tsagarakis,      D.G.      Caldwell, “Hopping at the Resonance Frequency: A Pattern Generation           Technique for Bipedal Robots with Elastic      Joints”, IEEE International      Conference on      Robotics and Automation Conference, (ICRA 2012), pp           1436-1443, St Paul, Minnesota.
  • Ioannis      Sarakoglou, N.G. Tsagarakis, D.G.           Caldwell, “A Compact Tactile Display Suitable for Integration in VR and           Teleoperation”, IEEE International Conference on      Robotics and Automation      Conference, (ICRA 2012),      pp 1018-1024, St Paul, Minnesota.
  • A. Jafari, N.G. Tsagarakis, I. Sardellitti, D.G.           Caldwell, “How Design can affect the Energy      Required to Regulate the      Stiffness in Variable      Stiffness Actuators”, IEEE International Conference           on Robotics and Automation Conference, (ICRA      2012), pp 2792.2797, St Paul,      Minnesota.
  • A.      Ajoudani, N.G.Tsagarakis, A. Bicchi, “Tele-Impedance:           Towards Transferring Human Impedance Regulation      Skills to Robots”,      IEEE International Conference      on Robotics and Automation Conference, (ICRA           2012), pp 382-388, St Paul, Minnesota (Best Manipulation Paper Finalist).
  • I. Sardellitti, G.M. Cerda, N.G.Tsagarakis, A.           Jafari, D.G. Caldwell, “A Position and      Stiffness Control Strategy for      Variable Stiffness      Actuators”, IEEE International Conference on Robotics           and Automation Conference, (ICRA 2012),      pp2785-2791, St Paul, Minnesota.
  • M.      Catalano, G. Grioli, Manolo Garabini, Felipe           Weilemann Belo, Andrea di Basco, N.G. Tsagarakis, A. Bicchi,           “Implementing a Variable Impedance Actuator”,      IEEE International      Conference on Robotics and      Automation Conference, (ICRA 2012), pp 2666-2672,           St Paul, Minnesota.
  • F.L.      Moro, N.G.Tsagarakis,           D.G.Caldwell,“Efficient Human-Like Walking for the COmpliant huMANoid           COMAN based on Kinematic Motion Primitives”, IEEE      International Conference      on Robotics and      Automation Conference, (ICRA 2012),pp 2007-2014, St Paul,           Minnesota.
  • Zhibin      Li, N.G.Tsagarakis, D.G.Caldwell,      “Walking      Trajectory Generation for a Humanoid Robot with Compliant           Joints”, IEEE International Conference on      Robotics and Automation      Conference, (ICRA 2012),      pp 836-841, St Paul, Minnesota.
  • Zhibin      Li, Bram Vanderborght, N.G.Tsagarakis,           D.G.Caldwell, “Compliant Humanoid Stabilization under Impact Disturbances           Using Passive Structures and Active Compliance      Control”, IEEE      International Conference on Robotics      and Automation Conference, (ICRA 2012),      pp      2000-2006, St Paul, Minnesota.
  • Bram      Vanderborght, N.G Tsagarakis, Ronald Van           Ham, Ivar Thorson; Darwin Caldwell, “MACCEPA 2.0: Compliant Actuator used           for Energy Efficient Hopping Robot Chobino1D”,      Autonomous Robots , Volume      31, Number 1, 55-65,      2011.
  • N.G.Tsagarakis,           D.G.Caldwell, “Towards Improved Mouse Interaction for Users with Impaired           Upper Limb gross Coordination”, Journal of      Applied Bionics and      Biomechanics: Special Issue      on Assistive and Rehabilitation Robotics,      Volume      8, Number 1, 2011, pp 13-20
  • Claudio      Semini, N. G. Tsagarakis, Emmanuelle           Guglielmino, Ferdinando Cannella, Darwin G. Caldwell, “Design of HyQ - a           Hydraulically and Electrically Actuated Quadruped      Robot”, IMechE Vol. 225      Part I: Journal of      Systems and Control Engineering, 2011.
  • V.      A. Tsachouridis, N. G. Tsagarakis and D. G.           Caldwell, “Sampled Data Control of a Compliant      Actuated Joint Using On/Off      Solenoid Valves”,      Journal of Engineering Science and Technology Review 4           (1), pp.14-24, 2011.
  • N.      G. Hernandez, N.G. Tsagarakis and D.G.Caldwell,           “Feeling through Tactile Displays: A Study on the      Effect of the Array      Density and Size on the      Discrimination of Tactile Patterns”, IEEE           Transactions on Haptics, vol. 4, 2010.
  • Angelo      Emanuele Fiorilla, N.G.Tsagarakis,           Francesco Nori and Giulio Sandini, “Design of a 2-Finger Hand Exoskeleton           for Finger stiffness measurements”, Journal of      Applied Bionics and      Biomechanics:Special Issue on      "Upper and Lower Limb Exoskeletons,      Vol. 6,      No. 2, pp 217–228, June 2009.
  • J. A. Saglia, N.G.Tsagarakis, J. S. Dai and D.           G. Caldwell, “A High Performance Redundantly      Actuated Parallel Mechanism      for Ankle Rehabilitation”,      International Journal of Robotics Research,      2009.
  • J.A. Saglia, N.G.Tsagarakis, J.S. Dai and D.G.           Caldwell, “Inverse Kinematics Based Control of      a Redundantly Actuated      Platform for      Rehabilitation”, Proceedings of the Institution of Mechanical           Engineers, Part I: Journal of Systems and Control      Engineering, IMechE Vol.      223, pp53-70, 2009.
  • A.      Ajoudani, N. G. Tsagarakis, and A. Bicchi.           Tele-Impedance: Preliminary Results on Measuring and Replicating Human Arm           Impedance in Tele Operated Robots. In IEEE      International Conference on      Robotics and      Biomimetics - ROBIO 2011, Phuket, Thailand, pages 216 - 223,           December 7-11, 2011.
  • F.L.      Moro N.G. Tsagarakis and D.G. Caldwell, “A           Human-like Walking for the COmpliant huMANoid COMAN based on CoM           Trajectory Reconstruction from Kinematic Motion”,      11th IEEE-RAS      International Conference on      Humanoid Robots, Bled, Slovenia, 2011, pp.           364-370.
  • Fabrizio      Flacco, Alessandro De Luca, Irene Sardellitti,      N.      G. Tsagarakis, “Robust Estimation of Variable Stiffness in           Flexible Joints”, International Conference on      Intelligent Robots and      Systems (IROS 2011),      pp4026-4033.
  • N.      G. Tsagarakis,           Irene Sardellitti, Darwin G. Caldwell, A New      Variable Stiffness Actuator      (CompAct-VSA): Design      and Modelling, International Conference on           Intelligent Robots and Systems (IROS 2011), pp 378-383.
  • Petar      Kormushev, Barkan Ugurlu, Sylvain Calinon, N.           G. Tsagarakis, Darwin G. Caldwell, “Bipedal Walking Energy Minimization           by Reinforcement Learning with Evolving Policy      Parameterization”,      International Conference on      Intelligent Robots and Systems (IROS 2011), pp           318-324.
  • N.      Garcia-Hernandez., I. Sarakoglou, N.G, Tsagarakis           and D.G. Caldwell, “Orientation Discrimination of      Patterned Surfaces      through an Actuated and      Non-actuated Tactile Display”, IEEE - World           Haptics Conference 2011, pp 599 - 604.
  • N.      Garcia-Hernandez., I. Sarakoglou, N.G, Tsagarakis           and D.G. Caldwell , “Effectiveness of a Tactile      Display for Providing Orientation      Information of      3d-patterned Surfaces”, Virtual and Mixed Reality - Systems           and Applications, Part II, HCI, Lecture Notes in      Computer Science, 2011,      Vol 6774, pp 327-332.
  • D.M.      Gan, N.G.Tsagarakis, Jian Dai, Darwin G.           Caldwell , “Stiffness Design for Compliant Manipulators based on Dynamics           Analysis of the impact configuration”, ASME 2011      International Design      Engineering Technical      Conferences (IDETC) and Computers and Information in           Engineering Conference (CIE), 2011.
  • N.G.      Tsagarakis,           Zhibin Li, Jody Alessandro Saglia, Darwin G.      Caldwell, “The Design of the      Lower Body of the      Compliant Humanoid Robot “cCub””, IEEE International           Conference on Robotics and Automation Conference,      (ICRA 2011), Shanghai,      pp 2035 – 2040.
  • Manuel      Catalano*, Giorgio Grioli, Manolo Garabini,      Fabio      Bonomo, N.G. Tsagarakis, Antonio Bicchi,“VSA-CubeBot: a           modular variable stiffness platform for multiple      degrees of freedom      robots”, IEEE International      Conference on Robotics and Automation      Conference,      (ICRA 2011),Shanghai, pp 5090 – 5095.
  • Alessandro Serio, Giorgio Grioli, Irene Sardellitti*, N.G.           Tsagarakis, Antonio Bicchi, “A Decoupled Impedance      Observer for a      Variable Stiffness Robot”, IEEE      International Conference on Robotics and           Automation Conference, (ICRA 2011), Shanghai, pp 5548 - 5553.
  • Amir      Jafar, N.G.Tsagarakis, and D.G.Caldwell,           “AwAS-II: A New Actuator with Adjustable Stiffness based on the Novel           Principle of Adaptable Pivot point and Variable      Lever ratiot”, IEEE      International Conference on      Robotics and Automation Conference, (ICRA      2011),      Shanghai, pp 4638-4642.
  • Amir      Jafar, N.G.Tsagarakis, and D.G.Caldwell,           “Exploiting Natural Dynamics for Energy Minimization using an Actuator           with Adjustable Stiffness”, IEEE International      Conference on Robotics and      Automation Conference,      (ICRA 2011), Shanghai, pp 4632-4637.
  • M.      Laffranchi, N.G.Tsagarakis, and D.G.Caldwell,           “A Compact Compliant Actuator with Variable      Physical Damping”, IEEE      International Conference      on Robotics and Automation Conference, (ICRA           2011), Shanghai, pp 4644-4650.
  • B      Ugurlu, N.G. Tsagarakis, E.           Spyrakos-Papastavridis. and D.G. Caldwell, “Compliant Joint Modification           and Real-Time Dynamic Walking Implementation on      Bipedal Robot cCub”, IEEE      International      Conference on Mechatronics, ICM 2011.
  • N.      G. Tsagarakis,           Amir Jafari and Darwin G. Caldwell, “A Novel      Variable Stiffness Actuator:      Minimizing the      Energy Requirements for the Stiffness Regulation”, 32nd           Annual International Conference of the IEEE      Engineering in Medicine and      Biology Society (EMBC      2010), pp 1275 – 1278.
  • J. A. Saglia, N.G. Tsagarakis, J. S. Dai and D.           G. Caldwell, “Assessment of the Assistive      Performance of an Ankle      Exerciser using      Electromyographic Signals”, IEEE 32nd International           Conference on Engineering in Medicine and      Biology, EMBC 2010, pp 5854      -5858.
  • J.      Iqbal, N.G. Tsagarakis, A.E. Fiorilla and           D.G. Caldwell, “A portable rehabilitation device for the hand”, 32nd           annual IEEE international conference of      Engineering in Medicine and      Biology Society (EMBS      2010), Buenos Aires, pp3694 – 3697,
  • Amir      Jafari, N. G. Tsagarakis, Bram Vanderborght           and Darwin G. Caldwell, “A Novel Actuator with      Adjustable Stiffness      (AwAS)”, The 2010 IEEE/RSJ      International Conference on Intelligent Robots      and      Systems(IROS 2010), pp 4201 – 4206
  • I. Sardellitti, G.Palli, N.G. Tsagarakis, D.G.           Caldwell, “Antagonistically Actuated Compliant      Joint: Torque and Stiffness      control”,      International Conference on Intelligent Robots and Systems (IROS           2010), pp 1909-1914.
  • E.      Guglielmino, N.G. Tsagarakis and D. G.           Caldwell, “An Octopus Anatomy-inspired Robotic Arm”, IEEE/RSJ Int. Conf.           on Intelligent RObots and Systems (IROS 2010), pp      3091-3096.
  • M. Focchi, E. Guglielmino, C. Semini, A. Parmiggiani, N.G.           Tsagarakis, B. Vanderborght and D. G. Caldwell,      “Water/Air Performance      Analysis of a Fluidic      Muscle”, EEE/RSJ Int. Conf. on Intelligent RObots           and Systems (IROS 2010), pp 2194-2199.
  • C. Semini, N. G. Tsagarakis, E. Guglielmino, D.           G. Caldwell, “Design and Experimental      Evaluation of the Hydraulically      Actuated      Prototype Leg of the HyQ Robot”, IEEE/RSJ Int. Conf. on           Intelligent Robots and Systems (IROS 2010),      pp3640 – 3645.
  • C.      Semini, N. G. Tsagarakis, E. Guglielmino and           D. G. Caldwell, “Design of HyQ – a Hydraulically      and Electrically Actuated      Quadruped Robot”,      Workshop on Human Adaptive Mechatronics (HAM 2010)
  • Nadia      Garcia-Hernandez, N.G.Tsagarakis, and           D.G.Caldwell , “Human Tactile ability to discriminate variations in Small           Ridge Patterns thorugh a Portable-wearable      Tactile Display”, International      Conferences on      Advances in Computer-Human Interactions (ACHI 2010)
  • Nadia Garcia-Hernandez, N.G. Tsagarakis, I.           Sarakoglou and D.G.Caldwell, “Psychophysical      Evaluation of a Low Density      and Portable Tactile      Device Displaying Small-scale Surface Features”,           Springer Lecture Notes in Computer Science, Haptics: Generating and           Perceiving Tangible Sensations, 2010, Volume 6192/2010, pp 50-57.
  • Jody      A. Saglia, N.G.Tsagarakis, Jian Dai, Darwin           G. Caldwell, “Control Strategies for Ankle      Rehabilitation using a High      Performance Ankle      Exerciser”, IEEE International Conference on Robotics           and Automation Conference, (ICRA 2010),      Anchorage, pp 2221-2227.
  • M.      Laffranchi, N.G.Tsagarakis, and D.G.Caldwell,           “A Variable Physical Damping Actuator (VPDA) for      Compliant Robotic      Joints”, IEEE International      Conference on Robotics and Automation Conference,           (ICRA 2010), Anchorage, pp 1668-1674.
  • N.G.Tsagarakis,           Bram Vanderborght, Matteo Laffranchi and D.G.Caldwell, “The Mechanical           Design of the New Lower Body for the Child      Humanoid robot ‘iCub’ ”,      IEEE/RSJ International      Conference on Intelligent Robots and Systems, IROS           2009, pp 4962-4968.
  • Yousheng      Yang, Claudio Semini, N.G.Tsagarakis,           Emanuele Guglielmino and Darwin G. Caldwell, “Leg Mechanisms for           Hydraulically Actuated Robots”, IEEE/RSJ      International Conference on      Intelligent Robots      and Systems, IROS 2009, pp 4669-4675.
  • M.      Laffranchi, N.G.Tsagarakis, F. Cannella, and           D.G.Caldwell, “Antagonistic and Series Elastic      Actuators: a Comparative      Analysis on the Energy      Consumption”, IEEE/RSJ International Conference on           Intelligent Robots and Systems, IROS 2009, pp      5678-5684.
  • Matteo Laffranchi, N.G.Tsagarakis, Darwin G.           Caldwell, “Safe Human Robot Interaction via      Energy regulation control”,      IEEE/RSJ      International Conference on Intelligent Robots and Systems, IROS           2009, pp 35-41.
  • Nadia      Garcia-Hernandez, N.G.Tsagarakis and D. G.           Caldwell, “Effect of the Tactile Array Density on the Discrimination of           Edge Patterns: Implications for Tactile Systems      Design“, IEEE      International Conference on Advanced      Robotics, 2009, pp 1-6.
  • N.G.Tsagarakis,           Matteo Laffranchi, Bram Vanderborght, Darwin G. Caldwell, “A Compact Soft           Actuator Unit for Small Scale Human Friendly      Robots”, IEEE International      Conference on      Robotics and Automation Conference, (ICRA 2009), Kobe Japan,           pp 4356-4362.
  • Jody      A. Saglia, N.G.Tsagarakis, Jian Dai, Darwin           G. Caldwell, “A High Performance 2-dof      Over-Actuated Parallel Mechanism      for Ankle      Rehabilitation”, IEEE International Conference on Robotics and           Automation Conference, (ICRA 2009), Kobe Japan,      pp 2180-2186.
  • Bram      Vanderborght, N.G.Tsagarakis, Claudio           Semini, Ronald Van Ham, Darwin G. Caldwell “MACCEPA 2.0: Compliant           Actuator used for Energy Efficient Hopping Robot      CHOBIN”, IEEE      International Conference on      Robotics and Automation Conference, (ICRA      2009),      Kobe Japan, pp 544-549.
  • N.G.Tsagarakis,           Martin Cube, D.G.Caldwell, “2D Motion Coordination Enhancement for           ‘Ataxia’ impaired users using a planar haptic      device”, IEEE International      Conference on      Humanoid Robots 2008 (IROS 2008), pp 729-734.
  • Claudio      Semini, N.G.Tsagarakis, Bram      Vanderborght      and Darwin G. Caldwell, “HyQ – Hydraulically Actuated           Quadruped Robot – Ready, Set, Jump”,      IEEE/RAS-EMBS International      Conference on      Biomedical Robotics and Biomechatronics, 2008 (BioRob 2008),           pp 593-599.
  • S.Kousidou,      N.G.Tsagarakis, C.Smith and           D.G.Caldwell,”Task-Orientated Biofeedback System for the Rehabilitation of           the Upper Limb”, 10th Int. Conf. on Rehabilitation      Robotics, (ICORR),      2007, pp 376-384.
  • N.G.Tsagarakis,           Francesco Becchi , Martin Singlair, Giorgio      Metta, D.G.Caldwell and G.      Sandini, ”Lower body      realization of the baby humanoid - ‘iCub’” , IEEE           International Conference on Humanoid Robots, (IROS 2007), pp3616 - 3622,           2007
  • I.Sarakoglou,      M.Benzichec, N.G.Tsagarakis,      D.G.Caldwell,      “Free to touch: A portable Tactile Display For 3D surface           exploration”, IEEE International Conference on      Intelligent Robotic      Systems, IEEE/RSJ      International Conference on Intelligent Robots and           Systems, pp3587-3592, 2006, (20 Years IROS,      NTF Award Finalist for      Entertainment Robots and      Systems, IROS 2007)
  • N.G.      Tsagarakis,           S.Kousidou, D.G.Caldwell, “Case Study:      Soft-Actuated Exoskeleton for Use      in      Physiotherapy and Training”, Wearable Robots: Biomechatronic           Exoskeletons, John Wiley & Sons, ISBN10:      0470512946, pp 270-278, 2008.
  • N.G.Tsagarakis,           G.Metta, G.Sandini, D.Vernon, R.Beira, F.Becchi, L.Righetti, J.S.Victor,           A.J. Ijspeert, M.C.Carrozza and D.G.Caldwell,      ”iCub –The Design and      Realization of an Open      Humanoid Platform for Cognitive and Neuroscience           Research”, Advanced Robotics, Special Issue on Robotic platforms for           Research in Neuroscience, Vol.21, No.10, pp,      1151-1175, 2007.
  • Darwin      G. Caldwell, N.G. Tsagarakis, S.      Kousidou,      N. Costa and Y. Sarakoglou, “Soft’ Exoskeletons for Upper and           Lower Body Rehabilitation – Design, Control and      Testing”, Journal of      Humanoids Robotics: Special      issue on active exoskeletons, Vol.4 No. 3 ,      pp.      549-573, 2007.
  • N.G.Tsagarakis,           F. Becchi, L.Righetti, A.J. Ijspeert and D.G.Caldwell” Lower Body           Realization of the Baby Humanoid - ‘iCub’” , IEEE      International Conference      on Humanoid Robots,      (IROS 2007), pp3616-3622, 2007.
  • I.Sarakoglou,      M.Benzichec, N.G.Tsagarakis,      D.G.Caldwell,      “Free to touch: A portable Tactile Display For 3D surface           exploration”, IEEE International Conference      on Intelligent Robotic      Systems, IEEE/RSJ      International Conference on Intelligent Robots and           Systems, pp3587-3592, 2006 (20 Years IROS, NTF      Award Finalist for      Entertainment Robots and      Systems, IROS 2007.
  • N.G.Tsagarakis,           M. Petrone, D. Testi, R. Mayoral, C. Zannoni, M.      Viceconti and G.J.      Clapworthy, D.G.Caldwell,” Pre-Operative      Planning for Total hip      Arthroplasty using aHaptic      Enabled Multimodal Interface and Framework”,           Multimedia and Visualization Magazine:Special Issue in Haptics, Jul-Sept           2006, pp 40-48.
  • N.G.Tsagarakis           and Darwin.G.Caldwell, ”Development and control of a ‘Soft-actuated’           exoskeleton for use in Physiotherapy and      Training”, Autonomous Robots,      Special issue on      Rehabilitation Robotics, Vol 15, pp 21-33, 2003.
  • N.G.      Tsagarakis           and Darwin G. Caldwell, “Development And      Control Of A Physiopherapy And      Training Exercise      Facility For The Upper Limb Using Soft Actuators”,           IEEE International Conference on Advanced      Robotics 2003, pp 1092-1095,      Coimbra, Portugal. (Best      Paper Award, ΙΕΕΕ ICAR 2003 )

 

  • N Kashiri, M. Laffranchi, D.G.   Caldwell, N.G. Tsagarakis, “Dynamics and Control of an Anthropomorphic   Compliant Arm equipped with Friction Clutches”, IEEE/ASME Transactions on   Mechatronics (accepted), 2015
  • Wesley Roozing, Zhibin Li, Gustavo Medrano-Cerda, Darwin Caldwell, N.G. Tsagarakis, “Development and Control of a Compliant Asymmetric Antagonistic Joint for Efficient Mobility”, IEEE/ASME Transactions on Mechatronics (accepted), 2015.
  • N Kashiri, J Lee, N.G. Tsagarakis, M Van Damme, ...

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Awards

§   Best Interacrtive Paper Finalist (IEEE Humanoids 2015)

E. Spyrakos-Papastavridis, N. Kashiri, J. Lee, N. G. Tsagarakis, D. G. Caldwell, 'Online Impedance Parameter Tuning for Compliant Biped Balancing,' IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2015.

§   Best Student Paper Award (ICINCO 2014)

Navvab Kashiri, N. G. Tsagarakis, M. Van Damme, B. Vanderborght, D. G. Caldwell, “Enhanced Physical Interaction Performance for Compliant Joint Manipulators using
Proxy-based Sliding Mode Control”, International Conference on Informatics in Control, Automation and Robotics (ICINCO), Vienna, 2014.

§   Best Conference Paper Award Finalist (ICINCO 2014)

Navvab Kashiri, N. G. Tsagarakis, M. Van Damme, B. Vanderborght, D. G. Caldwell, “Enhanced Physical Interaction Performance for Compliant Joint Manipulators using
Proxy-based Sliding Mode Control”, International Conference on Informatics in Control, Automation and Robotics (ICINCO), Vienna, 2014.

§   Best Presentation Award Finalist (Automatica 2014)

A. Ajoudani, N. G. Tsagarakis, and A. Bicchi, "Transferring Human Impedance Regulation Skills to Robots", Automatica, Bergamo, Italy, 2014

§  
Best Student Paper Award (IEEE Robio 2013)

Nikos Karavas, Arash Ajoudani, N.G. Tsagarakis and Darwin Caldwell, “Human-Inspired Balancing Assistance: Application to a Knee Exoskeleton”, IEEE Robotics and Biomimetics (ROBIO 2013).

§  Best Conference Paper Finalist  (IEEE Robio 2013)

Nikos Karavas, Arash Ajoudani, N.G. Tsagarakis and Darwin Caldwell, “Human-Inspired Balancing Assistance: Application to a Knee Exoskeleton”, IEEE Robotics and Biomimetics (ROBIO 2013).

§   Best Paper Finalist (IEEE Humanoids 2012)

Zhibin Li, N.G. Tsagarakis, D.G. Caldwell, “A Passivity Based Admittance Control for Stabilizing the Compliant Humanoid COMAN”, IEEE Humanoids 2012.

§ Best Jubilee Video Award (IEEE/RSJ IROS 2012)

B. Vanderborght, A. Albu-Schaeffer, A.Bicchi E. Burdet, D. Caldwell, R. Carloni, M. Catalano, G. Ganesh, M. Garabini, M. Grebenstein, G. Grioli, S. Haddadin, A. Jafari, M. Laffranchi, D. Lefeber, F. Petit, S. Stramigioli, N. G. Tsagarakis, M. Van Damme, R. Van Ham, L.C. Visser, S. Wolf, "Variable Impedance Actuators: Moving the Robots of Tomorrow", IEEE/RSJ Int. Conference on Intelligent Robots and Systems, 2012.

§ Best Manipulation Paper Finalist (IEEE ICRA 2012)

Adjoudani, N.G.Tsagarakis, A. Bicchi, "Tele-Impedance: Towards Transferring Human Impedance Regulation Skills to Robots", IEEE Int. Conference on Robotics and Automation Conference (ICRA), St Paul, Minnesota, 2012.

§ 2009 PE Publishing Prize of the Journal of Systems and Control Engineering

J.A. Saglia, N.G.Tsagarakis, J.S. Dai and D.G. Caldwell, "Inverse Kinematics Based Control of a Redundantly Actuated Platform for Rehabilitation", Journal of Systems and Control Engineering, IMechE Vol. 223, pp53-70, 2009.

§ NTF Award Finalist for Entertainment Robots and Systems (IEEE/RSJ IROS 2007)

I.Sarakoglou, M.Benzichec, N.G.Tsagarakis, D.G.Caldwell, "Free to touch: A portable Tactile Display For 3D surface exploration", IEEE/RSJ Int. Conference on Intelligent Robots and Systems, pp3587-3592, 2006.

§ Best Paper Award (IEE ICAR 2003)

N.G. Tsagarakis and Darwin G. Caldwell, "Development and Control of a Physiotherapy and Training Exercise Facility for the Upper Limb Using Soft Actuators", IEEE Int. Conference on Advanced Robotics (ICAR 2003), Coimbra, Portugal, July 2003.

§   Distinction Award in Mathematics: (Olympiad of Mathematics 1988)                                                                       

                                                               

 

$   Distinction Award in Mathematics:(Olympiad of Mathematics 1986)

§   Best Interacrtive Paper Finalist (IEEE Humanoids 2015)

E. Spyrakos-Papastavridis, N. Kashiri, J. Lee, N. G. Tsagarakis, D. G. Caldwell, 'Online Impedance Parameter Tuning for Compliant Biped Balancing,' IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2015.

§   Best Student Paper Award (ICINCO 2014)

Navvab Kashiri, N. G. Tsagarakis, M. Van Damme, B. Vanderborght, D. G. Caldwell, “Enhanced Physical Interaction Performance for Compliant Joint Manipulators using
Proxy-based ...

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