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

Refereed Conference Proceedings

Nousias, S. and Papadopoulos, E., “Quadruped Robot Roll and Pitch Estimation using an Unscented Kalman Filter,” 24th Mediterranean Conference on Control and Automation (MED ‘16), June 21-24, 2016, Athens, Greece.
Mitros, Z., Paraskevas, I. and Papadopoulos, E., “On Robotic Impact Docking for On Orbit Servicing,” 24th Mediterranean Conference on Control and Automation (MED ‘16), June 21-24, 2016, Athens, Greece.
Roditis, I., Nitsos, Th., Porichis, A., Chatzakos, P., Bertos, G., Lika K., and Papadopoulos, E., “Maintaining static stability and continuous motion in rough terrain hexapod locomotion without terrain mapping,” 24th Mediterranean Conference on Control and Automation (MED ‘16), June 21-24, 2016, Athens, Greece.
Machairas, K. and Papadopoulos, E., “An Active Compliance Controller for Quadruped Trotting,” 24th Mediterranean Conference on Control and Automation (MED ‘16), June 21-24, 2016, Athens, Greece.
Vasilopoulos,
V., Machairas, K., and Papadopoulos, E., “Quadruped Pronking on Compliant Terrains Using a Reaction Wheel,” in Proc. IEEE International Conference on Robotics and Automation (ICRA '16), Stockholm, Sweden, May 16-21, 2016.
Myrisiotis, D., Poulakakis I., and Papadopoulos, E, “On the Effects of Design Parameters on Quadruped Robot Gaits,” IEEE International Conference on Robotics and Biomimetics (ROBIO 2015), December 6-9, 2015, Zhuhai, China.
Cao,Q., Papadopoulos, E., and Poulakakis, I., “Control of Quadrupedal Bounding with Flexible Torso and Speed Transitions with Sums of Squares Verification,” First International Symposium on Swarm Behavior and Bio-Inspired Robotic (SWARM 2015), October 28–30, Kyoto, Japan.
Mablekos-Alexiou, A., Bertos, G. A.  and Papadopoulos, E., “A Biomechatronic Extended Physiological Proprioception (EPP) Controller for Upper-Limb Prostheses,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS ‘15), Hamburg, Germany, September 28 - October 02, 2015.
Ramp, M. and Papadopoulos, E., “On Modeling and Control of a Holonomic Vectoring Tricopter,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS ‘15), Hamburg, Germany, September 28 - October 02, 2015.
Clawar 08Moutopoulou, E., Bertos, G., Mablekos-Alexiou, A., and Papadopoulos, E., “Feasibility of a Biomechatronic EPP Upper Limb Prosthesis Controller,” 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Milano, Italy, August 25-29, 2015.
Ramp, M. and Papadopoulos, E., “Attitude and Angular Velocity Tracking for a Rigid Body using Geometric Methods on the Two-Sphere,” Proc. of the European Control Conference 2015, Johannes Kepler University, Linz, Austria, July 15-17, 2015.
Machairas, K. and Papadopoulos, E., “On Quadruped Attitude Dynamics and Control Using Reaction Wheels and Tails,” Proc. of the European Control Conference 2015, Johannes Kepler University, Linz, Austria, July 15-17, 2015
.
Tsopelakos, A. and Papadopoulos, E., “Backstepping control with energy reduction for an over-actuated marine platform,” in Proc. IEEE International Conference on Robotics and Automation (ICRA '15), Seattle, WA, USA, May 26-30, 2015, pp. 553-558.
Vasilopoulos, V., Paraskevas, I., and Papadopoulos, E., “Control and Energy Considerations for a Hopping Monopod on Rough Compliant Terrains,” in Proc. IEEE International Conference on Robotics and Automation (ICRA '15), Seattle, WA, USA, May 26-30, 2015, pp. 4570-4575.
Clawar 08Christofi, N., Talevi, M., Holt,
 J., Wormnes, K., Paraskevas, I., and Papadopoulos, E., “Orbital Robotics: A new Frontier in Education,” 6th International Conference on Robotics in Education (RiE ’15), Yverdon-les-Bains, Switzerland, May 20-22, 2015.
Tsopelakos, A., Vlachos, K., Papadopoulos, E., "Design of a Linear Model Predictive Controller for an Overactuated Triangular Floating Platform," Proc. 2014 IEEE Multi-conference on Systems and Control, Antibes, France, October 8-10, 2014.
Clawar 08Plagianakos, Th. and Papadopoulos, E., "Low-Velocity Global Impact Response of Smart Composite and Sandwich Composite Plates with Piezoelectric Transducers," Proc. ASME 2014 International Mechanical Engineering Congress & Exposition (IMECE 2014), November 14-20, 2014, Montreal, Quebec, Canada.
Clawar 08Plagianakos, Th., Lika, K., and Papadopoulos, E., "Low-Velocity Impact Response of Smart Sandwich Composite Plates with Piezoelectric Transducers: Modeling and Experiment," Proc. ICAST2014: 25nd International Conference on Adaptive Structures and Technologies, October 6-8, 2014, The Hague, The Netherlands.
Clawar 08Vlachos, K. and Papadopoulos, E.,Design and experimental validation of a hybrid micro tele-manipulation system,” Proc. 8th Hellenic Conference on AI (SETN 2014), Ioannina, Greece, May 15-17, also in Artificial Intelligence: Methods and Applications, Lecture Notes in Computer Science, A. Likas, K. Blekas, and D. Kalles, Eds., vol. 8445. Springer, 2014, pp. 164–177.
Makrodimitris, M., Aliprantis, I., and Papadopoulos, E., “Design and Implementation of a Low Cost, Pump-Based, Depth Control of a Small Robotic Fish,” Proc. of the 2014 International Conference on Intelligent Robots and Systems (IROS '14), Chicago, Illinois, Sept. 14–18, 2014, USA.
Vasilopoulos, V., Paraskevas, I., and Papadopoulos, E., “All-terrain Legged Locomotion Using a Terradynamics Approach,” Proc. of the 2014 International Conference on Intelligent Robots and Systems (IROS '14
), Chicago, Illinois, Sept. 14–18, 2014, USA.
Rekleitis, G. and Papadopoulos, E., “On Controller Parametric Sensitivity of Passive Object Handling in Space by Robotic Servicers,” Proc. of the 2014 International Conference on Intelligent Robots and Systems (IROS '14), Chicago, Illinois, Sept. 14–18, 2014, USA.
Vlachos, K. and Papadopoulos, E., “Design and experimental validation of a hybrid micro tele-manipulation system,” Proc. 8th Hellenic Conference on AI (SETN 2014), Ioannina, Greece, May 15-17, also in Artificial Intelligence: Methods and Applications, ser. Lecture Notes in Computer Science, A. Likas, K. Blekas, and D. Kalles, Eds., vol. 8445. Springer, 2014, pp. 164–177.
Tsounis, V., Makrodimitris, M., Papadopoulos, E., “A Low Cost, Sensorless Drag Force Estimation Methodology via Current Measurements,” 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2014), July 8-11, 2014, Besançon, France.
Ampatis, C. and Papadopoulos, E., “Parametric Design and Optimization of Multi-Rotor Aerial Vehicles,” in Proc. IEEE International Conference on Robotics and Automation (ICRA '1
4), Hong Kong, China, May31-June 7, 2014.
Spartali, I., Vlachos, K. and Papadopoulos, E., “Speed Control of Vibration Micro-motors of a Micro-Robotic Platform,” 21st Mediterranean Conference on Control and Automation, (MED'13), Chania, Crete, Greece on June 25-28, 2013.
Kontolatis, I. and Papadopoulos, E., “Gravity and Inclination Effects on the Design of Quadruped Robots for Space Exploration,” 21st Mediterranean Conference on Control and Automation, (MED'13), Chania, Crete, Greece on June 25-28, 2013.
Paraskevas, I. and Papadopoulos, E., “On the Use of the Center of Percussion for Space Manipulators during Impacts,” Proc. IEEE International Conference on Robotics and Automation (ICRA '13), May 6-10, 2013, Karlsruhe, Germany.
Nanos, K. and Papadopoulos, E.,On Cartesian Motions with Singularities Avoidance for Free-floating Space Robots,” Proc. IEEE International Conference on Robotics and Automation (ICRA '12), May 14-18 2012, 2012, St. Paul, MN, USA, pp. 5398-5403.
Tegopoulou, A. and Papadopoulos, E., “Determination of Rigid-Body Pose from Imprecise Point Position Measurements,”
Proc. of the 2011 International Conference on Intelligent Robots and Systems (IROS '11), September 25-30, 2011, San Fransisco, CA, USA.
Rekleitis, G. and Papadopoulos, E., “
On On-Orbit Passive Object Handling by Cooperating Space Robotic Servicers,”
Proc. of the 2011 International Conference on Intelligent Robots and Systems (IROS '11), September 25-30, 2011, San Fransisco, CA, USA.
Makrodimitris, M, Nikolakakis, A., and Papadopoulos, E., Semi-autonomous Color Line-Following Educational Robots: Design and Implementation,Proc. IEEE/ASME International Conference on Advanced Intelligent Mechatronics Systems (AIM ’11), July 3-7, 2011, Budapest, Hungary.
Nikolakakis, A., Kontolatis, I., Cherouvim, N., Chatzakos P., and Papadopoulos, E., Implementation of a Quadruped Robot Bounding/ Pronking Gait Using a Multipart Controller,” Special Session on "Vehicle Dynamics and Control", 2010 ASME Dynamic Systems and Control Conference, September 13-15, 2010, in Cambridge, MA, USA.
Nanos, K. and Papadopoulos, E., “On the Use of Free-floating Space Robots in the Presence of Angular Momentum,” Proc. IEEE/ASME International Conference on Advanced Intelligent Mechatronics Systems (AIM ’10), July 6-9, 2010, Montreal, Que. Canada.
Felekis, D. and Papadopoulos, E., “Design and development of a low-cost interferometric device for nanoscale position and velocity feedback,” Proc. IEEE/ASME International Conference on Advanced Intelligent Mechatronics Systems (AIM ’10), July 6-9, 2010, Montreal, Que. Canada.
Vlachos, K. and Papadopoulos, E., “Control Design and Allocation of an Over-Actuated Triangular Floating Platform,” Proc. IEEE International Conference on Robotics and Automation (ICRA '10), May 2010, Anchorage, Alaska.
Rekleitis, G. and Papadopoulos, E., “Towards Passive Object On-Orbit Manipulation by Cooperating Free-Flying Robot
s,” Proc. IEEE International Conference on Robotics and Automation (ICRA '10), May 2010, Anchorage, Alaska.
Chatzakos, P. and Papadopoulos, E., “A Parametric Study on the Passive Dynamics of Straight-Ahead Level-Ground Quadrupedal Running”, Proc. 14th Int. Conf. on Advanced Robotics, Munich, Germany, June 22-26, 2009.
Papadopoulos, Ε., Apostolopoulos Ε., and Tsigkourakos, P., “Design, Control, and Experimental Performance of a Teleoperated Robotic Fish,” Proc. 17th IEEE Mediterranean Conference on Control and Automation, (MED ‘09), Thessaloniki, June 24-26, 2009, pp. 766-771.
bulletPapadopoulos, Ε. and Papadopoulos, G., “A Novel Energy Pumping Strategy for Robotic Swinging,” Proc. 17th IEEE Mediterranean Conference on Control and Automation, (MED ‘09), Thessaloniki, June 24-26, 2009, pp. 928-933.
bulletDimopoulos, T. and Papadopoulos, E., “Experimental Tissue Parameter Identification for Use in Endoscopic Urological Haptic Simulators,” Proc. 17th IEEE Mediterranean Conference on Control and Automation, (MED ‘09), Thessaloniki, June 24-26, 2009, pp. 1131-1136.
bullet Chatzakos, P. and Papadopoulos, E., “A Parametric Study on the Rolling Motion of Dynamically Running Quadrupeds,” Proc. 17th IEEE Mediterranean Conference on Control and Automation, (MED ‘09), Thessaloniki, June 24-26, 2009, pp. 754-759.
Chatzakos, P. and Papadopoulos, E.,Dynamically Running Quadrupeds Self-Stable Region Expansion by Mechanical Design,” Proc. IEEE International Conference on Robotics and Automation (ICRA '09), May 2009, Kobe, Japan, pp. 2749-2754.
Cherouvim, N. and Papadopoulos, E.,Control of Hopping Speed and Height Over Unknown Rough Terrain Using a Single Actuator,” Proc. IEEE International Conference on Robotics and Automation (ICRA '09), May 2009, Kobe, Japan, pp. 2743-2748.
Repoulias, F., Vlachos, K., and Papadopoulos, E., “Modeling and Control of a Triangular Floating Platform Driven by Rotating Jets,” Proc. 16th IEEE Mediterranean Conference on Control and Automation (MED ’08), Ajaccio, France, June 25-27, 2008.
Cherouvim, N. and Papadopoulos, E.,Speed and Height Control for a Special Class of Running Quadruped Robots,” Proc. IEEE International Conference on Robotics and Automation (ICRA '08), May 2008, Pasadena, CA, pp. 825-830.
Repoulias, F. and Papadopoulos, E.,Robotic Airship Trajectory Tracking Control Using a Backstepping Methodology,” Proc. IEEE International Conference on Robotics and Automation (ICRA '08), May 2008, Pasadena, CA, pp. 188-193.
Chatzakos, P. and Papadopoulos, E.,The Influence of DC Electric Drives on Sizing Quadruped Robots,” Proc. IEEE International Conference on Robotics and Automation (ICRA '08), May 2008, Pasadena, CA, pp. 793-798.
Cherouvim, N. and Papadopoulos, E.,Parametric Study of a Trotting Quadruped Robot with a Novel Multipart Controller,” Proc. IEEE International Conference on Robotics and Autp://nereus.mech.ntua.gr/tomation (ICRA '08), May 2008, Pasadena, CA, pp. 805-810.
Vartholomeos, P. Mougiakos, K. and Papadopoulos, E. "Driving Principles and Hardware Integration of Microrobots Employing Vibration Micromotors," Proc. 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Systems (AIM '07), September 4-7, 2007, ETH Zurich, Switzerland. (Best Student Paper Finalist).
Vlachos, K., Vartholomeos, and Papadopoulos, E. "A Haptic Tele-Manipulation Environment for a Vibration-Driven Micromechatronic Device," Proc. 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Systems (AIM '07), September 4-7, 2007, ETH Zurich, Switzerland.
Repoulias, F. and Papadopoulos, E., "Dynamically Feasible Trajectory and Open-Loop Control Design for Unmanned Airships," Proc.15th IEEE Mediterranean Conference on Control and Automation, June 27-29, 2007, Athens, Greece.
Davliakos, I. and Papadopoulos, E., "Model-Based Position Tracking Control for a 6-dof Electrohydraulic Stewart Platform," Proc.15th IEEE Mediterranean Conference on Control and Automation, June 27-29, 2007, Athens, Greece.
Chatzakos, P. and Papadopoulos, E., "Parametric Analysis and Design Guidelinesfor a Quadruped Bounding Robot," Proc.15th IEEE Mediterranean Conference on Control and Automation, June 27-29, 2007, Athens, Greece.
Cherouvim, N. and Papadopoulos, E., "Pitch Control for Running Quadrupeds Using in Flight Leg Positioning," Proc.15th IEEE Mediterranean Conference on Control and Automation, June 27-29, 2007, Athens, Greece.
Repoulias, F, and Papadopoulos, E., “Three Dimensional Trajectory Control of Underactuated AUVs,” Proc. European Control Conference, (ECC '07), 2-5 July 2007, Kos, Greece, pp. 3492-3499.
Papadopoulos, E., Kaliakatsos, I. and Psarros, D. “Minimum Fuel Techniques for a Space Robot Simulator with a Reaction Wheel and PWM Thusters,” Proc. European Control Conference, (ECC '07), 2-5 July 2007, Kos, Greece, pp. 3391-3398.
Papadopoulos, E. and Misailidis, M. “On Differential Drive Robot Odometry with Application to Path Planning,” Proc. European Control Conference, (ECC '07), 2-5 July 2007, Kos, Greece, pp. 5492-5499.
Davliakos, I. and Papadopoulos, E., “A Model-Based Impedance Control of a 6-dof Electrohydraulic Stewart Platform,” Proc. European Control Conference, (ECC '07), 2-5 July 2007, Kos, Greece, pp. 3507-3514.
Papadopoulos, E. Fragkos, I., and Tortopidis, I., "On Robot Gymnastics Planning with Non-zero Angular Momentum," Proc. IEEE International Conference on Robotics and Automation (ICRA '07), May 2007, Rome, Italy, pp. 1443-1448.
Vartholomeos, P., Vlachos, K., and Papadopoulos, E., "On the Force Capabilities of Centripetal Force-actuated Microrobotic Platforms," Proc. IEEE International Conference on Robotics and Automation (ICRA '07), May 2007, Rome, Italy, pp. 1116-1121.
Papadopoulos, E. and Patsianis, G., "Design of an Exoskeleton Mechanism for the Shoulder Joint," Proc. 12th World Congress in Mechanism and Machine Science, (IFToMM '07), June 17 - 21, 2007, Besançon, France.
Vlachos, K. and Papadopoulos, E., "Using Force Control for Fidelity in Low-Force Medical Haptic Simulators," Proc. 2006 IEEE International Conference on Control Applications, (CCA '06), October 4-6, 2006, Technische Universität München, Munich, Germany, pp. 181-186.
Cherouvim, N. and Papadopoulos, E., "Speed Control of Quadrupedal Bounding  Using a Reaction Wheel," Proc. 2006 IEEE International Conference on Control Applications, (CCA '06), October 4-6, 2006, Technische Universität München, Munich, Germany, pp. 2160-2165.
Vartholomeos, P., Loizou, S., Thiel, M., Kyriakopoulos K., and Papadopoulos, E., "Control of the Multi Agent Micro-Robotic Platform MiCRoN," Proc. IEEE International Conference on Control Applications, (CCA '06), October 4-6, 2006, Technische Universität München, Munich, Germany, pp. 1414-1419.
Davliakos, I., Zafiris, A., and Papadopoulos, E., "Joint Space Controller Design for Electrohydraulic Servos," Proc. 2006 IEEE International Symposium on Computer-Aided Control Systems Design, (CACSD '06), October 4-6, 2006, Technische Universität München, Munich, Germany, pp. 796-801.
Repoulias, F. and Papadopoulos, E., "On Spatial Trajectory Planning and Open-loop Control for Underactuated AUVs," Proc. 8th IFAC Symposium on Robot Control (SYROCO ‘06), Bologna, Italy, September 2006.
Davliakos, I. and Papadopoulos, E., "Invariant Error Dynamics Controller for a 6-dof Electrohydraulic Stewart Platform," Proc. 6th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control, (ROMANSY ’06), June 20-24 2006, Warsaw, Poland.
Rekleitis, G. and Papadopoulos, E., "On Dynamic Analysis and Control of a Novel Orbital Debris Disposer," Proc. 6th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control, (ROMANSY ’06), June 20-24 2006, Warsaw, Poland.
Tortopidis, I. and Papadopoulos, E., "Point-to-Point Planning: Methodologies forUnderactuated Space Robots," Proc. IEEE International Conference on Robotics and Automation (ICRA '06), May 2006, Orlando, FL, USA, pp. 3861-3866.
Vartholomeos, P. and Papadopoulos, E., "Analysis, Design and Control of a Planar Micro-robot Driven by Two Centripetal-Force Actuators," Proc. IEEE International Conference on Robotics and Automation (ICRA '06), May 2006, Orlando, FL, USA, pp. 649-654.

Repoulias, F. and Papadopoulos, E., "Planning and Control of Planar Underactuated Marine Vehicles Subject to Linear and Quadratic Drag," Proc. International Conference on Robotics and Applications, Oct. 31-Nov. 2 2005, Cambridge, MA, USA.
Tortopidis, I. and Papadopoulos, E., "Under-Actuated Space Robots: Physical and Algorithmic Constraints in Smooth Motion Planning," Proc. International Conference on Robotics and Applications, Oct. 31-Nov. 2 2005, Cambridge, MA, USA.
Vlachos, K. and Papadopoulos, E., "Force Control Law Design for a Five Degree-of-freedom Hpatic Mechanism," Proc. International Conference on Robotics and Applications, Oct. 31-Nov. 2 2005, Cambridge, MA, USA.
Davliakos, I., Chatzakos, P., and Papadopoulos, E., "Development of a Model-based Impedance Controller for Electrohydraulic Servos," Proc. International Conference on Robotics and Applications, Oct. 31-Nov. 2 2005, Cambridge, MA, USA.
Vartholomeos, P. and Papadopoulos, E., "Dynamic Analysis and Speed Control of a Novel Micro-platform Driven by Vibrating Motors," Proc. International Conference on Robotics and Applications, Oct. 31-Nov. 2 2005, Cambridge, MA, USA.
Cherouvim, N. and Papadopoulos, E., "Single Actuator Control of a 3DOF Hopping Robot," Proc. Robotics Science and Systems, June 8-11 2005, Cambridge, MA, USA.
Papadopoulos, E. and Paraskevas, I., "Design and Configuration Control of Space Robots Undergoing Impacts,” 6th International ESA Conference on Guidance, Navigation and Control Systems, 17 – 20 October 2005, Loutraki, Greece.
Vlachos, K. and Papadopoulos, E., "Endpoint-Side Optimization of a Five Degree-of-Freedom Haptic Mechanism,"Proc.13th IEEE Mediterranean Conference on Control and Automation, June 27-29, 2005, Limassol, Cyprus.
Davliakos, I. and Papadopoulos, E., "Development of a Model-Based Nested Controller for Electrohydraulic Servos," Proc.13th IEEE Mediterranean Conference on Control and Automation, June 27-29, 2005, Limassol, Cyprus.
Vartholomeos, P. and Papadopoulos, E., "Analysis and Design of a Novel Mini-platform Employing Vibration Micro-motors," Proc. IEEE International Conference on Robotics and Automation (ICRA '05), April 2005, Barcelona, Spain, pp. 3638-3643.
Papadopoulos, E., Tortopidis, I., and Nanos, K.,"Smooth Planning for Free-floating Space Robots Using Polynomials," Proc. IEEE International Conference on Robotics and Automation (ICRA '05), April 2005, Barcelona, Spain, pp. 4283-4288.
Repoulias, F. and Papadopoulos, E., "Trajectory Planning and Tracking Control of Underactuated AUVs," Proc. IEEE International Conference on Robotics and Automation (ICRA '05), April 2005, Barcelona, Spain, pp. 1622-1627.

Papadopoulos, E., and Nanos, K., "On Configuration Planning for Free-floating Space Robots," Proceedings 15th CISM-IFToMM Symposium on Robot Design, Dynamics and Control, Montreal, Canada, June 14-18, 2004.
Papadopoulos, E. and Cherouvim, N., "On Increasing Energy Autonomy for a One-Legged Hopping Robot," Proceedings of the 2004 IEEE International Conference on Robotics and Automation, (ICRA 04), New Orleans, Louisiana, April 26- May 1, 2004, pp. 4645-4650.
Vlachos, K., Papadopoulos, E., and Mitropoulos, D., "Mass/ Inertia and Joint Friction Minimization for a Low-force Five-dof Haptic Device," Proceedings of the 2004 IEEE International Conference on Robotics and Automation, (ICRA 04), New Orleans, Louisiana, April 26- May 1, 2004, pp. 286-291.
Papadopoulos, E., Tsamis, A., and Vlachos, K., "A Real-Time Graphic Environment for a Urological Operation Training Simulator," Proceedings of the 2004 IEEE International Conference on Robotics and Automation, (ICRA 04), New Orleans, Louisiana, April 26- May 1, 2004, pp. 1295-1300.

Tzeranis, D., Papadopoulos, E., and Triantafyllou, G., "On the Design of an Autonomous Robot Fish," Proc. 11th IEEE Mediterranean Conference on Control and Automation, (MED '03), Rhodes, June 17-20, 2003.
Chatzakos, P. and Papadopoulos, E., "On Model-Based Control of Hydraylic Actuators," Proc. of RAAD '03, 12th International Workshop on Robotics in Alpe-Adria-Danube Region, Cassino, Italy, May 7-10, 2003.
Poulakakis, Papadopoulos, E., and Buehler, M., "On the Stable Passive Dynamics of Quadrupedal Running," Proc. IEEE International Conference on Robotics and Automation (ICRA' 03), Taipei, Taiwan, May 12-17, 2003.

Papadopoulos, E. and Chasparis, G, "Analysis and Model-based Control of Servomechanisms with Friction," Proc. of the 2002 International Conference on Intelligent Robots and Systems (IROS '02),Lausanne, Switzerland, October 2002.
Papadopoulos, E., Vlachos K., and Mitropoulos, D., "On the Design of a Low-force 5-dof Force - Feedback Haptic Mechanism," Proc. ASME 27th Biennial Mechanisms and Robotics Conference - 3rd Symposium on Medical Devices and Systems, Montreal, Canada, September 29 - October 2, 2002.
Papadopoulos, E., Vlachos K., and Mitropoulos, D., "Design of a 5-dof Haptic Simulator for Urological Operations," Proc. IEEE International Conference on Robotics and Automation (ICRA' 02), Wachington, DC, May 11-15, 2002.

Dupuis, E., Papadopoulos, E., and Hayward, V., "The Singular Vector Algorithm for the Computation of Rank-Deficiency Loci of Rectangular Jacobians," Proceedings of the 2001 International Conference on Intelligent Robots and Systems (IROS '01), Maui, Hawaii, October 29 - November 3, 2001.
Papadopoulos, E. and Papadimitriou, I."Modeling, Design and Control of a Portable Washing Machine during the Spinning Cycle," Proc. 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Systems (AIM 2001), July 2001, pp. 899-904.
Papadopoulos, E. and Poulakakis, I."Planning and Obstacle Avoidance for Mobile Robots," Proc. IEEE International Conference on Robotics and Automation, Seoul, Korea, May 21-26 2001.
Poulakakis, I., Smith, J., Papadopoulos, E., and Buehler, Μ., “Opportunities for Adaptation and Learning in Dynamically Stable Legged Robots,” Proc. 11th Yale Workshop on Adaptive and Learning Systems, Center for Systems Science, Yale University, June 4-6, 2001, pp. 129-134.

Talebi, S., Poulakakis, I., Papadopoulos, E., and Buehler, M."Quadruped Robot Running With a Bounding Gait," Proceedings of the 7th International Symposium on Experimental Robotics (ISER '00),Honolulu, Hawaii, December 2000.
Talebi, S., M. Buehler, M., and Papadopoulos, E., "Towards Dynamic Step Climbing for a Quadruped Robot with Compliant Legs," Proceedings of the 3rd International Conference on Climbing and Walking Robots,Madrid, Spain, October 2000.
Papadopoulos, E. and Poulakakis, J., "Planning and Model-Based Control for Mobile Manipulators," Proceedings of the 2000 International Conference on Intelligent Robots and Systems (IROS '00), Japan, October 2000.
Papadopoulos, E. and Poulakakis, J., "Trajectory Planning and Control for Mobile Manipulator Systems," Proc. 8th IEEE Mediterranean Conference on Control and Automation, (MED '00) Patras, July 2000.
Papadopoulos, E. and Poulakakis, J., "On Motion Planning of Nonholonomic Mobile Robots," Proc. International Symposium on Robotics ISR 2000, Montreal, Canada, May 14-17, 2000.

Martin, E., Papadopoulos, E., and Angeles, J., "A Novel Approach to Reduce Dynamic Interactions in Space Robots," Proceedings of the 1999 IASTED International Conference on Robotics and Applications, Santa Barbara, CA, October 1999.
Bilodeau, G. and Papadopoulos, E. , "A Model-Based Impedance Control Scheme for High-Performance Hydraulic Joints," Proceedings of the 1998 International Conference on Intelligent Robots and Systems (IROS '98), Victoria, BC, Canada, October 1998.
Moosavian, S. Ali A. and Papadopoulos, E. "Multiple Impedance Control for Object Manipulation," Proceedings of the 1998 International Conference on Intelligent Robots and Systems (IROS '98), Victoria, BC, Canada, October 1998.
Martin, E., Papadopoulos, E. , and Angeles, J., "A Control Scheme for the Reduction of Thruster-Manipulator Interactions in Space Robotic Systems" Proceedings of the 1998 International Conference on Intelligent Robots and Systems (IROS '98), Victoria, BC, Canada, October 1998.

Moosavian, S. Ali A. and Papadopoulos, E., "Control of Space Free-Flyers Using the Modified Transpose Jacobian Algorithm", Proceedings of the 1997 International Conference on Intelligent Robots and Systems (IROS '97), Grenoble, France, September 1997.
Bilodeau, G. and Papadopoulos, E., "Modelling, Identification and Experimental Validation of a Hydraulic Manipulator Joint for Control," Proceedings of the 1997 International Conference on Intelligent Robots and Systems (IROS '97), Grenoble, France, September 1997.
Rey, D.A. and Papadopoulos, E., "On-line Automatic Tipover Prevention for Mobile Manipulators," Proceedings of the 1997 International Conference on Intelligent Robots and Systems (IROS '97), Grenoble, France, September 1997.
Papadopoulos, E., Frenette, R., Mu, B., and Gonthier, Y., "On the Modeling and Control of an Experimental Harvester Machine Manipulator", Proceedings of the 1997 International Conference on Intelligent Robots and Systems (IROS '97), Grenoble, France, September 1997.
Bilodeau, G. and Papadopoulos, E., "Experiments on a High Performance Hydraulic Manipulator Joint: Modelling for Control," Proceedings of the 1997 International Symposium on Experimental Robotics (ISER '97), Barcelona, Spain, June 1997.
Moosavian, S. Ali A. and Papadopoulos, E., "On the Control of Space Free-flyers Using Multiple Impedance Control," Proc. IEEE International Conference on Robotics and Automation, (ICRA '97), April 21-27 1997, Albuquerque, NM.
Bilodeau, G. and Papadopoulos, E., "Development of a Hydraulic Manipulator Servoactuator Model: Simulation and Experimental Validation," Proc. IEEE International Conference on Robotics and Automation, (ICRA '97), April 21-27 1997, Albuquerque, NM.
Papadopoulos, E. and Sarkar, S., "The Dynamics of an Articulated Forestry Machine and its Applications," Proc. IEEE International Conference on Robotics and Automation, April 21-27 1997, (ICRA '97), Albuquerque, NM.
Papadopoulos, E. Mu, B., and Frenette, R., "Modelling and Identification of an Electrohydraulic Articulated Forestry Machine," Proc. IEEE International Conference on Robotics and Automation, April 21-27 1997, (ICRA '97), Albuquerque, NM.
Papadopoulos, E. and Sarkar, S., "On the Dynamic Modeling of an Articulated Electrohydraulic Forestry Machine," Proc. of the 1996 AIAA Forum on Advanced Developments in Space Robotics, Madison, WI, August 1-2, 1996.
Martin, E., Papadopoulos, E. and Angeles, J., "Towards Reducing Thruster-Flexibility Interactions in Space Robots," Proc. of the Eighth CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Udine, Italy, July 1-4, 1996.
Papadopoulos, E. and Rey, D., "A New Measure of Tipover Stability Margin for Mobile Manipulators," Proc. of the IEEE International Conference on Robotics and Automation, Minneapolis, MN, April 1996.
Martin, E., Papadopoulos, E., and Angeles, J., "Control System Design for Reduced Thruster-Flexibility Interactions in Space Robots," Proc. of the CSME Forum, Hamilton, ON, May 1996.

Freedman, P., Papadopoulos, E., Poussart, D., Gosselin, C., and Courteau, J, "ATREF: Application des Technologies Robotiques aux 'Equipements Forestiers," Proc. 1995 Canadian Conference on Electrical and Computer Engineering, Montreal, PQ, Sept. 5-8, 1995, pp. 1140-1143.
Papadopoulos, E. and Gonthier, Y., "Large Force Task Planning for Mobile and Redundant Robots," Proc. of International Conference on Intelligent Robots and Systems (IROS '95), Pittsburgh, PA, August 5-9, 1995, 144-149.
Martin, E., Papadopoulos, E., and Angeles, J., "On the Interaction of Flexible Modes and On-off Thrusters in Space Robotic Systems," Proc. of International Conference on Intelligent Robots and Systems (IROS '95), Pittsburgh, PA, August 5-9, 1995, pp. 65-70.
Papadopoulos, E. and Gonthier, Y., "On Manipulator Posture Planning for Large Force Tasks," Proc. of the IEEE International Conference on Robotics and Automation, Nagoya, Japan, May 1995.

Papadopoulos, E. and Moosavian, S. A. A., "A Comparison of Motion Control Algorithms for Space Free-flyers," Proc. of International Conference on Adaptive Structures, Sendai, Japan, December 5-7, 1994, (invited).
Papadopoulos, E. and Moosavian, S. A. A., "Dynamics & Control of Multi-arm Space Robots During Chase & Capture Operations," Proc. of International Conference on Intelligent Robots and Systems (IROS '94), Munich, Germany, September 12-16, 1994, pp. 1554-1561.
Papadopoulos, E. and Moosavian, S. A. A., "Trajectory Planning and Control of Multiple Arm Space Free-flyers," Proc. of the Second Workshop on Robotics in Space, International Advanced Robotics Programme (IARP '94), Montreal, PQ, July 6-8, 1994.
Abu-Abed, A. and Papadopoulos, E., "On the Design of Zero Reaction Robots," Proc. of the CSME Forum, Montreal, PQ, June 27-29, 1994, pp. 552-561.
Papadopoulos, E. and Abu-Abed, A., "Design and Motion Planning for a Zero-Reaction Manipulator," Proc. of the IEEE International Conference on Robotics and Automation, San Diego, CA, May 1994, pp. 1554-1559.

Papadopoulos, E., "Large Payload Manipulation by Space Robots," Proc. of International Conference on Intelligent Robots and Systems (IROS '93), Yokohama, Japan, July 26-30, 1993, (invited), pp. 2087-2094.
Papadopoulos, E., "Path Planning for Space Manipulators Exhibiting Nonholonomic Behavior," Proc. of the International Conference on Intelligent Robots and Systems (IROS '92), Raleigh, North Carolina, July 7-10, 1992, pp. 669-675.
Papadopoulos, E. and Dubowsky, S., "Failure Recovery Control for Space Robotic Systems," Proc. of the American Control Conference, Boston, MA, June 1991, (invited), pp. 1485-1490.
Papadopoulos, E. and Dubowsky, S., "Coordinated Manipulator/Spacecraft Motion Control for Space Robotic Systems," Proc. of the IEEE International Conference on Robotics and Automation, Sacramento, CA, April 1991, pp. 1696-1701.
Papadopoulos, E. and Dubowsky, S., "On the Control of Space Manipulators," Proc. of the Eighth CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Cracow, Poland, July 1990.
Papadopoulos, E. and Dubowsky, S., "On the Nature of Control Algorithms for Space Manipulators," Proc. of the IEEE International Conference on Robotics and Automation, Cincinnati, OH, May 1990, pp. 1102-1108.
Papadopoulos, E. and Dubowsky, S., "On the Dynamic Singularities in the Control of Free-Floating Space Manipulators," Proc. of the Winter Annual Meeting of the ASME (invited), ASME DSC-Vol. 15, San Fransisco, CA, December 1989, pp. 45-52.
West, H., Papadopoulos, E., Dubowsky, S., and Cheah H., "A Method for Estimating the Mass Properties of a Manipulator by Measuring the Reaction Moments at its Base," Proc. of the IEEE International Conference on Robotics and Automation, Scottsdale, AZ, May 1989, pp. 1510-1701.
Papadopoulos, E. and Hardt, D. E., "Model Reference Adaptive Control: Model Error and Disturbance Effects," Proc. of the Symposium on Nonlinear Problems in Energy Engineering, Argonne, IL, April 1983.

 

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