National Technical University of Athens - School of Mechanical Engineering
Control Systems Lab
Evangelos Papadopoulos Research Group

Post-Doctoral Fellow
 Diploma in Chemical Engineering   Msc in Control & Robotic Systems     PhD in Space Robotics  
Location: T&SS Laboratory
Phone: +(30) 210-772-2348

Kostas Nanos received his Diploma in Chemical Engineering (ChE) in 2001, M.Sc. in Control & Robotic Systems in 2003 and PhD degree in Mechanical Engineering (ME) in 2015, all from the National Technical University of Athens (NTUA). During his MSc thesis, he studied the path planning of nonholonomic systems including mobile robots and free-floating space manipulator systems (FFSMS). Part of this work was presented in the conferences CISM_IFToMM ROMANSY '04 and ICRA '05. His PhD thesis was focused on the dynamics, path planning and control of FFSMS in the presence of angular momentum and flexibilities. Part of his PhD work was presented in the conferences AIM '10 and ICRA '12 and has been published in the journals JISR, IEEE TAES, CEP and Frontiers in Robotics. In his Post Doctoral research, he participated in the development of a method for the estimation of the inertia parameters of a FFSMS using the angular momentum conservation and in the development of a novel trajectory planning method for a robotic fish. Part of these works was presented in ICRA '17 and MED '17, respectively. Recently, he works in the area of the impedance/compliance control during the capturing of a non-cooperative object by a space manipulator and the estimation of the joint flexibilities of FFSMS. He has participated in several projects including the HexaTerra project (2014) on the development of a modular stepping locomotion system (hexapod robot) for installation on subsea trenching machines used for subsea energy cable burial and the ASSIST on the development of a harmonised system study on interfaces and standardisation of fuel transfer (2015-2017). He is a member of the Technical Chamber of Greece (TEE).

Research Interests
Robotics, space manipulators, path planning, model based control and modeling of dynamic systems 

Current Work
  Research Area: Space Robotics

Past Work

   Nanos, K., and Papadopoulos, E., “On the Dynamics and Control of Free-floating Space Manipulator Systems in the Presence of Angular Momentum,” Frontiers in Robotics and AI, Space Robotics, June 2017.
   Nanos, K., and Papadopoulos, E., “On the Dynamics and Control of Flexible Joint Space Manipulators,” IFAC Control Engineering Practice (CEP), Vol. 45, December 2015, pp. 230 – 243.
   Nanos, K., and Papadopoulos, E., “Avoiding Dynamic Singularities in Cartesian Motions of Free-floating Manipulators,” IEEE Transactions on Aerospace and Electronic Systems (TAES), Vol. 51, No. 3, July 2015, pp. 2305 – 2318.
   Nanos, K., and Papadopoulos, E., “On the Use of Free-floating Space Robots in the Presence of Angular Momentum,” Journal of Intelligent Service Robotics, Volume 4 (1), Special Issue on Space Robotics, Springer – Verlag, 2011, pp. 3 – 15.
   Makrodimitris, M., Nanos, K., and Papadopoulos, E., “A Novel Trajectory Planning Method for a Robotic Fish, 25th Mediterranean Conference on Control and Automation (MED‘17), July 3-6, 2017, Valletta, Malta, pp. 1119 – 1124. 2011, pp. 3 – 15.
Christidi-Loumpasefski, O., Nanos, K., and Papadopoulos, E., “On Parameter Estimation of Space Manipulator Systems Using the Angular Momentum Cinservation, IEEE International Conference on Robotics and Automation (ICRA‘17), May 29-June 3, 2017, Singapore, pp. 5453 – 5458. 
   Nanos, K., and Papadopoulos, E., “On Cartesian Motions with Singularity Avoidance for Free-floating Space Robots,” IEEE International Conference on Robotics and Automation (ICRA’12), May 14–18, 2012, St. Paul, MN, USA, pp. 5398 – 5403.
   Nanos, K., and Papadopoulos, E., “On the Use of Free-floating Space Robots in the Presence of Angular Momentum,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM '10), July 6-9, 2010, Montreal, Que. Canada, pp. 1287 – 1292.
   Papadopoulos, E., Tortopidis, I., and Nanos, K., “Smooth Planning for Free-floating Space Robots Using Polynomials,” IEEE International Conference on Robotics and Automation (ICRA 05), April 2005, Barcelona, Spain, pp. 4283-4288.
Papadopoulos, E., and Nanos, K., “On Configuration Planning for Free-floating Space Robots,”15th CISM-IFToMM Symposium on Robot Design, Dynamics and Control, Montreal, Canada, June 14-18, 2004.
Nanos K., and Papadopoulos, E.Angular Momentum Influence in Free-Floating Robotic Systems in Orbit,” 2st Pan-Hellenic Conference on Robotics10 - 11 November, 2010, Patra, Greece, (in Greek). 
Papadopoulos E, Paraskevas I.S.., Flessa T., Nanos K., Rekleitis G. and Kontolatis I., “Development of Simulator and Emulator System for Space Robot”1st Panhellenic Conference on Robotics, Athens, Greece, 23-24 February 2009, (in Greek). 
Papadopoulos, E., Paraskevas, I., Flessa, T., Nanos, K., Rekleitis G. Kontolatis, I.,“The NTUA Space Robot Simulator: Design & Results,” 10th ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA 2008), 11 - 14 November 2008, ESA/ESTEC, Noordwijk, The Netherlands.