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View article: Editorial: Wearables for human-robot interaction and collaboration
Editorial: Wearables for human-robot interaction and collaboration Open
View article: UAV-based deep learning applications for automated inspection of civil infrastructure
UAV-based deep learning applications for automated inspection of civil infrastructure Open
View article: CTD4 – a Deep Continuous Distributional Actor-Critic Agent with a Kalman Fusion of Multiple Critics
CTD4 – a Deep Continuous Distributional Actor-Critic Agent with a Kalman Fusion of Multiple Critics Open
Categorical Distributional Reinforcement Learning (CDRL) has demonstrated superior sample efficiency in learning complex tasks compared to conventional Reinforcement Learning (RL) approaches. However, the practical application of CDRL is e…
View article: Offline Versus Real-Time Grasp Prediction Employing a Wearable High-Density Lightmyography Armband: On the Control of Prosthetic Hands
Offline Versus Real-Time Grasp Prediction Employing a Wearable High-Density Lightmyography Armband: On the Control of Prosthetic Hands Open
Several studies over the last decades have investigated the use of myoelectric upper-arm prostheses to restore lost functionality and perform complex activities of daily life. Muscle-machine interfacing methods employing electromyography, …
View article: Benchmarking Reinforcement Learning Methods for Dexterous Robotic Manipulation with a Three-Fingered Gripper
Benchmarking Reinforcement Learning Methods for Dexterous Robotic Manipulation with a Three-Fingered Gripper Open
Reinforcement Learning (RL) training is predominantly conducted in cost-effective and controlled simulation environments. However, the transfer of these trained models to real-world tasks often presents unavoidable challenges. This researc…
View article: Image-Based Deep Reinforcement Learning with Intrinsically Motivated Stimuli: On the Execution of Complex Robotic Tasks
Image-Based Deep Reinforcement Learning with Intrinsically Motivated Stimuli: On the Execution of Complex Robotic Tasks Open
Reinforcement Learning (RL) has been widely used to solve tasks where the environment consistently provides a dense reward value. However, in real-world scenarios, rewards can often be poorly defined or sparse. Auxiliary signals are indisp…
View article: A cable‐driven underwater robotic system for delicate manipulation of marine biology samples
A cable‐driven underwater robotic system for delicate manipulation of marine biology samples Open
Underwater robotic systems have the potential to assist and complement humans in dangerous or remote environments, such as in the monitoring, sampling, or manipulation of sensitive underwater species. Here we present the design, modeling, …
View article: CTD4 -- A Deep Continuous Distributional Actor-Critic Agent with a Kalman Fusion of Multiple Critics
CTD4 -- A Deep Continuous Distributional Actor-Critic Agent with a Kalman Fusion of Multiple Critics Open
Categorical Distributional Reinforcement Learning (CDRL) has demonstrated superior sample efficiency in learning complex tasks compared to conventional Reinforcement Learning (RL) approaches. However, the practical application of CDRL is e…
View article: Multi-Layer, Sensorized Kirigami Grippers for Delicate Yet Robust Robot Grasping and Single-Grasp Object Identification
Multi-Layer, Sensorized Kirigami Grippers for Delicate Yet Robust Robot Grasping and Single-Grasp Object Identification Open
Soft robotic devices have gained popularity for their ability perform intricate grasping and dexterous manipulation tasks, providing an alternative to traditional rigid robotic end-effectors. These devices are known for their simplicity, l…
View article: On Robust Assembly of Flexible Flat Cables Combining CAD and Image Based Multiview Pose Estimation and a Multimodal Robotic Gripper
On Robust Assembly of Flexible Flat Cables Combining CAD and Image Based Multiview Pose Estimation and a Multimodal Robotic Gripper Open
In robotic assembly of flexible flat cables (FFCs), a unique challenge is the inherent difficulty in manipulating such flexible objects compared to their rigid counterparts and the precise estimation of the cable pose. This work proposes a…
View article: UAV navigation in large-scale GPS-denied bridge environments using fiducial marker-corrected stereo visual-inertial localisation
UAV navigation in large-scale GPS-denied bridge environments using fiducial marker-corrected stereo visual-inertial localisation Open
The use of Unmanned Aerial Vehicles (UAVs) for bridge inspection has gained popularity recently; however, accurately localising the UAV in GPS-denied areas is still challenging, which hinders the development of fully autonomous UAV-assiste…
View article: Editorial: Robotic grasping and manipulation of deformable objects
Editorial: Robotic grasping and manipulation of deformable objects Open
EDITORIAL article Front. Robot. AI, 06 January 2023Sec. Robotic Control Systems Volume 9 - 2022 | https://doi.org/10.3389/frobt.2022.1108038
View article: On lightmyography based muscle-machine interfaces for the efficient decoding of human gestures and forces
On lightmyography based muscle-machine interfaces for the efficient decoding of human gestures and forces Open
View article: Electromyography Based Gesture Decoding Employing Few-Shot Learning, Transfer Learning, and Training From Scratch
Electromyography Based Gesture Decoding Employing Few-Shot Learning, Transfer Learning, and Training From Scratch Open
Over the last decade several machine learning (ML) based data-driven approaches have been used for Electromyography (EMG) based control of prosthetic hands. However, the performance of EMG-based frameworks can be affected by: i) the onset …
View article: Beyond high-tech versus low-tech: A tentative framework for sustainable urban data governance
Beyond high-tech versus low-tech: A tentative framework for sustainable urban data governance Open
Technological imaginaries have been increasingly shaping the future perceptions of cities. From artificial intelligence and distributed ledger technology to three-dimensional printing, high-tech artifacts are very often the premises of suc…
View article: The Omnirotor Platform: A Versatile, Multi-Modal, Coaxial, All-Terrain Vehicle
The Omnirotor Platform: A Versatile, Multi-Modal, Coaxial, All-Terrain Vehicle Open
Mobile and aerial robots offer many potential applications, including warehouse logistics, surveillance, cinematography, and search and rescue. However, most such robots are task-specific and generally lack the versatility to tackle multip…
View article: Electromyography-Based, Robust Hand Motion Classification Employing Temporal Multi-Channel Vision Transformers
Electromyography-Based, Robust Hand Motion Classification Employing Temporal Multi-Channel Vision Transformers Open
With an increasing use of robotic and bionic devices for the execution of everyday life, complex tasks, Electromyography (EMG) based interfaces are being explored as candidate technologies for facilitating an intuitive interaction with suc…
View article: An Accessible, Open-Source Dexterity Test: Evaluating the Grasping and Dexterous Manipulation Capabilities of Humans and Robots
An Accessible, Open-Source Dexterity Test: Evaluating the Grasping and Dexterous Manipulation Capabilities of Humans and Robots Open
Evaluating the dexterity of human and robotic hands through appropriate benchmarks, scores, and metrics is of paramount importance for determining how skillful humans are and for designing and developing new bioinspired or even biomimetic …
View article: On Aerial Robots with Grasping and Perching Capabilities: A Comprehensive Review
On Aerial Robots with Grasping and Perching Capabilities: A Comprehensive Review Open
Over the last decade, there has been an increased interest in developing aerial robotic platforms that exhibit grasping and perching capabilities not only within the research community but also in companies across different industry sector…
View article: A Benchmarking Platform and a Control Allocation Method for Improving the Efficiency of Coaxial Rotor Systems
A Benchmarking Platform and a Control Allocation Method for Improving the Efficiency of Coaxial Rotor Systems Open
Coaxial rotors used on multirotor Micro Aerial Vehicles (MAVs) are complex aerodynamic systems that are typically treated in a simplified manner, operating in sub-optimal conditions. In this letter, we propose: i) an open-source benchmarki…
View article: On EMG Based Dexterous Robotic Telemanipulation: Assessing Machine Learning Techniques, Feature Extraction Methods, and Shared Control Schemes
On EMG Based Dexterous Robotic Telemanipulation: Assessing Machine Learning Techniques, Feature Extraction Methods, and Shared Control Schemes Open
Electromyography (EMG) signals are commonly used for the development of Muscle Machine Interfaces. EMG-based solutions provide intuitive and often hand-free control in a wide range of applications that range from the decoding of human inte…
View article: Electromyography Based Decoding of Dexterous, In-Hand Manipulation Motions With Temporal Multichannel Vision Transformers
Electromyography Based Decoding of Dexterous, In-Hand Manipulation Motions With Temporal Multichannel Vision Transformers Open
Electromyography (EMG) signals have been used in designing muscle-machine interfaces (MuMIs) for various applications, ranging from entertainment (EMG controlled games) to human assistance and human augmentation (EMG controlled prostheses …
View article: An Adaptive, Affordable, Open-Source Robotic Hand for Deaf and Deaf-Blind Communication Using Tactile American Sign Language
An Adaptive, Affordable, Open-Source Robotic Hand for Deaf and Deaf-Blind Communication Using Tactile American Sign Language Open
Currently, ~ 1.5 million American deaf-blind individuals depend on the availability of interpreting services to communicate in their primary conversational language, tactile American Sign Language (ASL). In an effort to give the deaf-blind…
View article: On Differential Mechanisms for Underactuated, Lightweight, Adaptive Prosthetic Hands
On Differential Mechanisms for Underactuated, Lightweight, Adaptive Prosthetic Hands Open
Over the last decade underactuated, adaptive robot grippers and hands have received an increased interest from the robotics research community. This class of robotic end-effectors can be used in many different fields and scenarios with a v…
View article: Leveraging Human Perception in Robot Grasping and Manipulation Through Crowdsourcing and Gamification
Leveraging Human Perception in Robot Grasping and Manipulation Through Crowdsourcing and Gamification Open
Robot grasping in unstructured and dynamic environments is heavily dependent on the object attributes. Although Deep Learning approaches have delivered exceptional performance in robot perception, human perception and reasoning are still s…
View article: Electromyography-Based Decoding of Dexterous, In-Hand Manipulation of Objects: Comparing Task Execution in Real World and Virtual Reality
Electromyography-Based Decoding of Dexterous, In-Hand Manipulation of Objects: Comparing Task Execution in Real World and Virtual Reality Open
The increased use of Virtual and Augmented Reality based systems necessitates the development of more intuitive and unobtrusive means of interfacing. Over the last years, Electromyography (EMG) based interfaces have been employed for inter…
View article: Improving Robotic Manipulation Without Sacrificing Grasping Efficiency: A Multi-Modal, Adaptive Gripper With Reconfigurable Finger Bases
Improving Robotic Manipulation Without Sacrificing Grasping Efficiency: A Multi-Modal, Adaptive Gripper With Reconfigurable Finger Bases Open
This work proposes a framework that improves the dexterous manipulation capabilities of two fingered grippers by: i) optimizing the finger link dimensions and the interfinger distance for a given object and ii) analyzing the effect of fing…
View article: Employing Pneumatic, Telescopic Actuators for the Development of Soft and Hybrid Robotic Grippers
Employing Pneumatic, Telescopic Actuators for the Development of Soft and Hybrid Robotic Grippers Open
Traditionally, the robotic end-effectors that are employed in unstructured and dynamic environments are rigid and their operation requires sophisticated sensing elements and complicated control algorithms in order to handle and manipulate …
View article: Modular, Accessible, Sensorized Objects for Evaluating the Grasping and Manipulation Capabilities of Grippers and Hands
Modular, Accessible, Sensorized Objects for Evaluating the Grasping and Manipulation Capabilities of Grippers and Hands Open
The human hand is Nature's most versatile and dexterous end-effector and it has been a source of inspiration for roboticists for over 50 years. Recently, significant industrial and research effort has been put into the development of dexte…
View article: A Low-Cost, Open-Source, Robotic Airship for Education and Research
A Low-Cost, Open-Source, Robotic Airship for Education and Research Open
Miniature indoor robotic airship platforms offer high mobility, safety, and extended flight times. This paper focuses on the feasibility, design, development, and evaluation of such a platform for robotics education and research. Selected …