First Name
Konstantinos
Last Name
Machairas
Email
kmach@central.ntua.gr
Position
PhD Student
Lab
Legged Robots
Room
Basement
Bio
Konstantinos Machairas was born in Athens in April 1989. He received a Diploma in Mechanical Engineering from the National Technical University of Athens (NTUA), Greece, in February 2013. He works in the area of embedded systems and robotics since 2008. Since April 2013, he is a PhD candidate in the Department of Mechanical Engineering of NTUA (Supervisor: Prof. Evangelos G. Papadopoulos). His research focuses on dynamics, design and control of legged robots. Besides his academic research, he has acquired valuable professional experience. In 2012, he worked in Mechanical Engineering Dept. at TU Clausthal, Germany, on spline shaft-hub connections FEA analysis. From 2013 to 2016, he worked at CSL, NTUA, on the design and development of the quadruped robot Laelaps. From 2016 to 2019, he worked on the design and development of a hybrid wheel-legged quadruped robot (DAAD Project: “Theoretical and Experimental Perspectives for the Control of Complex Robotic Systems with Application to Advanced Walking Devices”). Since 2017, he works as an embedded software engineer at PNOE – ENDO Medical. Since 2018, he also works on the design and control of a wheeled robotic platform for autonomous cargo handling of intelligent containers for Aircrafts (Project: Intellicont – Horizon 2020, Clean Sky).
Publications
Chapters in Books
[1] Machairas, K., Garyfallidis, S., Paraskevas, I. and Papadopoulos, E., “A Framework for Research and Prototyping in Robotics: From Ideas to Software and Hardware Development,” Chapter in CyberPhysical Systems: Decision Making Mechanisms and Applications, River Publishers Series in Circuits & Systems, Gistrup Denmark, 2017.
Peer-reviewed Journals Papers
[2] Dallas, S, Machairas, K., and Papadopoulos, E., “A Comparison of ODE Solvers for Dynamical Systems with Impacts,” ASME Journal of Computational and Nonlinear Dynamics, Vol. 12, No. 6, September 2017. DOI: 10.1115/1.4037074.
Peer-reviewed Conference Papers
[3] Machairas, K., and Papadopoulos, E., “An Analytical Study on Trotting at Constant Velocity and Height,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS ‘18), Madrid, Spain, October 1-5, 2018.
[4] Machairas, K. and Papadopoulos, E., “Design and Control of Quadruped Robots using Dynamics,” 2018 Dynamic Walking, Pensacola, Florida, USA, May 21-24, 2018.
[5] Dallas, S., Machairas, K., Koutsoukis, K., Papadopoulos, E., “A Leg Design Method for High Speed Quadrupedal Locomotion,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS ‘17), Vancouver, BC, Canada, September 24–28, 2017.
[6] Machairas, K. and Papadopoulos, E., “On Dynamic Quadrupedal Gaits Using Active Compliance Control,” 2016 Dynamic Walking, June 4-7, 2016, Holly, Michigan.
[7] 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.
[8] 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.
[9] 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 Univ., Austria, July 15-17, 2015.
[10] Machairas, K. and Papadopoulos, E., “On Attitude Dynamics and Control of Legged Robots Using Tail-Like System,” ECCOMAS Thematic Conference on Multibody Dynamics, June 29 - July 2, 2015, Barcelona, Spain.
[11] Machairas, K., Andreou, S., Paraskevas, I. and Papadopoulos, E., “Extending the NTUA Space Robot Emulator for Validating Complex On-Orbit Servicing Tasks,” 12th Symp. on Advanced Space Technologies in Robotics and Automation, (ASTRA ‘13), ESA, ESTEC, Noordwijk, The Netherlands, May 15-17, 2013.
[1] Machairas, K., Garyfallidis, S., Paraskevas, I. and Papadopoulos, E., “A Framework for Research and Prototyping in Robotics: From Ideas to Software and Hardware Development,” Chapter in CyberPhysical Systems: Decision Making Mechanisms and Applications, River Publishers Series in Circuits & Systems, Gistrup Denmark, 2017.
Peer-reviewed Journals Papers
[2] Dallas, S, Machairas, K., and Papadopoulos, E., “A Comparison of ODE Solvers for Dynamical Systems with Impacts,” ASME Journal of Computational and Nonlinear Dynamics, Vol. 12, No. 6, September 2017. DOI: 10.1115/1.4037074.
Peer-reviewed Conference Papers
[3] Machairas, K., and Papadopoulos, E., “An Analytical Study on Trotting at Constant Velocity and Height,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS ‘18), Madrid, Spain, October 1-5, 2018.
[4] Machairas, K. and Papadopoulos, E., “Design and Control of Quadruped Robots using Dynamics,” 2018 Dynamic Walking, Pensacola, Florida, USA, May 21-24, 2018.
[5] Dallas, S., Machairas, K., Koutsoukis, K., Papadopoulos, E., “A Leg Design Method for High Speed Quadrupedal Locomotion,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS ‘17), Vancouver, BC, Canada, September 24–28, 2017.
[6] Machairas, K. and Papadopoulos, E., “On Dynamic Quadrupedal Gaits Using Active Compliance Control,” 2016 Dynamic Walking, June 4-7, 2016, Holly, Michigan.
[7] 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.
[8] 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.
[9] 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 Univ., Austria, July 15-17, 2015.
[10] Machairas, K. and Papadopoulos, E., “On Attitude Dynamics and Control of Legged Robots Using Tail-Like System,” ECCOMAS Thematic Conference on Multibody Dynamics, June 29 - July 2, 2015, Barcelona, Spain.
[11] Machairas, K., Andreou, S., Paraskevas, I. and Papadopoulos, E., “Extending the NTUA Space Robot Emulator for Validating Complex On-Orbit Servicing Tasks,” 12th Symp. on Advanced Space Technologies in Robotics and Automation, (ASTRA ‘13), ESA, ESTEC, Noordwijk, The Netherlands, May 15-17, 2013.
