Embedded Files
2025
2025
Robotic Shelf Replenishment by Combining Non-Prehensile Object Manipulation with Simple Grasping
Robotic Shelf Replenishment by Combining Non-Prehensile Object Manipulation with Simple Grasping
L. Koutras, S. Stavridis, C. Papakonstantinou and Z. Doulgeri
L. Koutras, S. Stavridis, C. Papakonstantinou and Z. Doulgeri
 Conference: 2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids), Seoul, Republic of Korea 2025
 Conference: 2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids), Seoul, Republic of Korea 2025
doi: 10.1109/Humanoids65713.2025.11203187Â
doi: 10.1109/Humanoids65713.2025.11203187Â
A Controller for the Trajectory Tracking of Robotic Planar Cutting Tasks
A Controller for the Trajectory Tracking of Robotic Planar Cutting Tasks
L. Koutras and Z. Doulgeri
L. Koutras and Z. Doulgeri
Conference: 2025 European Control Conference (ECC), Thessaloniki, Greece, 2025
Conference: 2025 European Control Conference (ECC), Thessaloniki, Greece, 2025
doi: 10.23919/ECC65951.2025.11186855.
doi: 10.23919/ECC65951.2025.11186855.
2024
2024
Learning a Pre-Grasp Manipulation Policy to Effectively Retrieve a Target in Dense Clutter
Learning a Pre-Grasp Manipulation Policy to Effectively Retrieve a Target in Dense Clutter
M. Kiatos, L. Koutras, I. Sarantopoulos and Z. Doulgeri
M. Kiatos, L. Koutras, I. Sarantopoulos and Z. Doulgeri
Conference: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, United Arab Emirates, 2024
Conference: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, United Arab Emirates, 2024
doi: 10.1109/IROS58592.2024.10801734.
doi: 10.1109/IROS58592.2024.10801734.
2023
2023
Towards Passivity Based Nonprehensile Bimanual Manipulation of Large Objects
Towards Passivity Based Nonprehensile Bimanual Manipulation of Large Objects
L. Koutras, I. Ntoliou and Z. Doulgeri
L. Koutras, I. Ntoliou and Z. Doulgeri
Conference: 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), Austin, TX, USA, 2023
Conference: 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), Austin, TX, USA, 2023
doi: 10.1109/Humanoids57100.2023.10375178.
doi: 10.1109/Humanoids57100.2023.10375178.
Enforcing Constraints for Dynamic Obstacle Avoidance by Compliant Robots
Enforcing Constraints for Dynamic Obstacle Avoidance by Compliant Robots
L. Koutras, K. Vlachos, G. S. Kanakis, F. Dimeas, Z. Doulgeri and G. A. Rovithakis
L. Koutras, K. Vlachos, G. S. Kanakis, F. Dimeas, Z. Doulgeri and G. A. Rovithakis
Conference: 2023 IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, 2023
Conference: 2023 IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, 2023
doi: 10.1109/ICRA48891.2023.10160360.
doi: 10.1109/ICRA48891.2023.10160360.
A control framework for learning and performing safe human-robot collaborative assembly
A control framework for learning and performing safe human-robot collaborative assembly
L. Koutras, K. Vlachos, G. S. Kanakis, F. Dimeas, Z. Doulgeri and G. A. Rovithakis
L. Koutras, K. Vlachos, G. S. Kanakis, F. Dimeas, Z. Doulgeri and G. A. Rovithakis
Book Chapter: Chapter 3 of "Human-Robot Collaboration: Unlocking the potential for industrial applications", 2023
Book Chapter: Chapter 3 of "Human-Robot Collaboration: Unlocking the potential for industrial applications", 2023
https://doi.org/10.1049/PBCE134E_ch3
https://doi.org/10.1049/PBCE134E_ch3
2022
2022
Learning Push-Grasping in Dense Clutter
Learning Push-Grasping in Dense Clutter
M. Kiatos, I. Sarantopoulos, L. Koutras, S. Malassiotis and Z. Doulgeri
M. Kiatos, I. Sarantopoulos, L. Koutras, S. Malassiotis and Z. Doulgeri
Journal: IEEE Robotics and Automation Letters, 2022
Journal: IEEE Robotics and Automation Letters, 2022
 doi: 10.1109/LRA.2022.3188437Â
 doi: 10.1109/LRA.2022.3188437Â
A controller for reaching and unveiling a partially occluded object of interest with an eye-in-hand robot
A controller for reaching and unveiling a partially occluded object of interest with an eye-in-hand robot
D. Papageorgiou, L. Koutras and Z. Doulgeri,Â
D. Papageorgiou, L. Koutras and Z. Doulgeri,Â
Conference 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), Ginowan, Japan, 2022
Conference 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), Ginowan, Japan, 2022
doi: 10.1109/Humanoids53995.2022.10000171.
doi: 10.1109/Humanoids53995.2022.10000171.
2021
2021
Exponential stability of trajectory tracking control in the orientation space utilizing unit quaternions
Exponential stability of trajectory tracking control in the orientation space utilizing unit quaternions
L. Koutras and Z. Doulgeri
L. Koutras and Z. Doulgeri
Conference: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, 2021
Conference: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, 2021
doi: 10.1109/IROS51168.2021.9636171.
doi: 10.1109/IROS51168.2021.9636171.
Exponential stability of an attitude trajectory tracking controller utilizing unit quaternions
Exponential stability of an attitude trajectory tracking controller utilizing unit quaternions
L. Koutras and Z. Doulgeri
L. Koutras and Z. Doulgeri
Conference: 2021 European Control Conference (ECC), Delft, Netherlands, 2021
Conference: 2021 European Control Conference (ECC), Delft, Netherlands, 2021
10.23919/ECC54610.2021.9654947.
10.23919/ECC54610.2021.9654947.
2020
2020
A novel DMP formulation for global and frame independent spatial scaling in the task space,
A novel DMP formulation for global and frame independent spatial scaling in the task space,
L. Koutras and Z. Doulgeri
L. Koutras and Z. Doulgeri
Conference: 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Naples, Italy, 2020
Conference: 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Naples, Italy, 2020
doi: 10.1109/RO-MAN47096.2020.9223500.
doi: 10.1109/RO-MAN47096.2020.9223500.
Dynamic Movement Primitives for moving goals with temporal scaling adaptation
Dynamic Movement Primitives for moving goals with temporal scaling adaptation
L. Koutras and Z. Doulgeri
L. Koutras and Z. Doulgeri
Conference: 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020
Conference: 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020
doi: 10.1109/ICRA40945.2020.9196765.
doi: 10.1109/ICRA40945.2020.9196765.
2019
2019
A correct formulation for the Orientation Dynamic Movement Primitives for robot control in the Cartesian space
A correct formulation for the Orientation Dynamic Movement Primitives for robot control in the Cartesian space
L. Koutras and Z. Doulgeri
L. Koutras and Z. Doulgeri
Conference: 2019 Conference on Robot Learning (CoRL), Osaka, Japan, 2019
Conference: 2019 Conference on Robot Learning (CoRL), Osaka, Japan, 2019
doi: 10.1109/ICRA40945.2020.9196765.
doi: 10.1109/ICRA40945.2020.9196765.
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