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Click here to download my updated publication list.
Send me an e-mail if you are interested in a copy of my publications.
My publications on Google Scholar
Reviewed Journal Papers
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M. Zambelli , Y. Karayiannidis and D.V. Dimarogonas,
"Posture regulation for unicycle-like robots with prescribed performance guarantees,"
IET Control Theory & Applications, to appear, 2014.
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Y. Karayiannidis and Z. Doulgeri ,
"Regressor-free prescribed performance robot tracking,"
Robotica, vol. 31, no. 8, pp 1229-1238,2013.
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C. Smith, Y. Karayiannidis, L. Nalpantidis , X. Gratal, P. Qi,
D.V. Dimarogonas and D. Kragic ,
"Dual arm manipulation—A survey,"
Robotics and Autonomous Systems, vol. 60, no. 10, pp.1340-1353,2012.
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Y. Karayiannidis and Z. Doulgeri ,
"Model-free robot joint position regulation and tracking with prescribed performance guarantees,"
Robotics and Autonomous Systems, vol. 60, no. 2, pp.214-226,2012.
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Y. Karayiannidis and Z. Doulgeri ,
"Robot contact tasks
in the presence of control target distortions," Robotics and
Autonomous Systems, vol. 58, no. 5, pp.
596-606, 2010.
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Y. Karayiannidis and Z. Doulgeri,
"Adaptive control of robot
contact tasks with on-line learning of planar surfaces," Automatica,
vol. 45, no. 10, pp. 2374-2382, 2009.
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Y. Karayiannidis and Z. Doulgeri,
"Blind force/position control on
unknown planar surfaces," IET Control
Theory and Applications, vol. 3, no. 5, pp. 595-603, May 2009.
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Z. Doulgeri and Y. Karayiannidis,
"Force/position control
self-tuned to unknown surface slopes using motion variables,"
Robotica, vol. 26, no. 06, pp. 703-710, 2008.
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Z. Doulgeri and Y. Karayiannidis,
"Force/position regulation for a robot in compliant contact using
adaptive surface slope identification," IEEE Transactions on
Automatic Control, vol. 53, no. 9, pp. 2116-2122, 2008.
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Y. Karayiannidis, G. Rovithakis
and Z. Doulgeri,
"Force/Position Tracking for a Robotic Manipulator
in Compliant Contact with a Surface using Neuro-Adaptive Control,"
Automatica, vol. 43, pp. 1281-1288, 2007.
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Z. Doulgeri and Y. Karayiannidis,
"Force position
control for a robot finger with a soft tip and kinematic
uncertainties," Robotics and Autonomous Systems, vol. 55, no. 4, pp.
328-336, 2007.
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Z. Doulgeri and Y. Karayiannidis,
"Performance
analysis of a soft tip robotic finger controlled by a parallel
force/position regulator under kinematic uncertainties," IET
Proceedings in Control Theory and Applications, vol. 1, no. 1, pp.
273-280, 2007.
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Reviewed Conference Papers
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Yiannis Karayiannidis,Christian Smith, and Danica Kragic
"Mapping Human Intentions to Robot Motions via Physical Interaction Through a Jointly-held Object,"
23rd IEEE International Symposium on Robot and Human Interactive Communication, Edinburgh, Scotland, UK, Aug 25-29, 2014, pp 391-397.
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Yuquan Wang,
Francisco Viña, Christian Smith
, Yiannis Karayiannidis and
Petter Ögren
"Dual Arm Manipulation using Constraint Based Programming,"
IFAC World Congress, Cape Town, South Africa, 24-29 August 2014
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Francisco Viña, Christian Smith, Danica Kragic and Yiannis Karayiannidis.
"Adaptive Contact Point Estimation for Autonomous Tool Manipulation,"
Autonomous Grasping and Manipulation Workshop. 2014 IEEE International Conference on Robotics and Automation (ICRA'14).
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Yiannis Karayiannidis, Christian Smith, Francisco Viña, and Danica Kragic.
"Online Contact Point Estimation for Uncalibrated Tool Use,"
IEEE International Conference on Robots and Automation (ICRA 2014), Hong Kong, China
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Yiannis Karayiannidis, Christian Smith, Francisco Viña, and Danica Kragic.
"Online Kinematics Estimation for Active Human-Robot Manipulation of Jointly Held Objects,"
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, November 3-7, 2013 Tokyo, Japan. pp 4872-4878
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Francisco Viña, Yasemin Bekiroglou, Christian Smith, Yiannis Karayiannidis, and Danica Kragic.
"Predicting Slippage and Learning Manipulation Affordances through Gaussian Process Regression,"
IEEE-RAS International Conference on Humanoid Robots, Oct 15-17, 2013, Atlanta. pp 462-468
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Yiannis Karayiannidis, Christian Smith, Francisco Viña, Petter Ögren, and Danica Kragic.
"Interactive perception and manipulation of unknown constrained mechanisms using adaptive control,"
ICRA 2013 Mobile Manipulation Workshop on Interactive Perception, at the IEEE International Conference on Robots and Automation, Karlsruhe, Germany, 2013.
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Yiannis Karayiannidis, Christian Smith, Francisco Viña, Petter Ögren, and Danica Kragic.
"Model-free robot manipulation of doors and drawers by means of fixed-grasps
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IEEE International Conference on Robots and Automation (ICRA 2013), Karlsruhe, Germany, pp 4470-4477, 2013
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Y. Karayiannidis, D.V. Dimarogonas and D. Kragic ,
"Multi-agent average consensus control with prescribed performance
guarantees,"
in Proc. 51st IEEE International Conference on Decision and Control,2012.
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C. Smith and Y. Karayiannidis.
"Optimal Command Ordering for Serial Link Manipulators,"
in Proc. IEEE-RAS International Conference on Humanoid Robots, Nov 29 - Dec 1, 2012, Osaka. pp 255-261
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Y. Karayiannidis, C. Smith, F. Vina, P. Ögren, and D. Kragic.
"Design of force-driven online motion plans for door opening under uncertainties,"
Workshop on Real-time Motion Planning: Online, Reactive, and in Real-time, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 12, 2012 Vilamoura, Portugal
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Y. Karayiannidis, C. Smith, F. Vina, P. Ögren, and D. Kragic.
"Open Sesame!" - Adaptive Force/Velocity Control for Opening Unknown Doors,"
in Proc. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 7-12, 2012 Vilamoura, Portugal, pp. 4040-4047
Finalist for "Best Application Paper"
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Y. Karayiannidis, C. Smith,
P. Ögren, and
D. Kragic.
"Adaptive Force/Velocity Control for Opening Unknown Doors,"
in Proc. IFAC Symposium on Robot Control, Syroco 5-7 Sep. 2012, Dubrovnik, Croatia, pp.826-831
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P. Ögren, Christian Smith,
Y.Karayiannidis, and
D. Kragic,
"A Multi Objective Control approach to Online Dual Arm Manipulation,"
in Proc. IFAC Symposium on Robot Control, Syroco 5-7 Sep. 2012, Dubrovnik, Croatia, pp. 820-825
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J. Markdahl, Y. Karayiannidis, and X. Hu
"Cooperative Object Path Following Control by means of Mobile Manipulators: a Switched Systems Approach,"
in Proc. IFAC Symposium on Robot Control, Syroco 5-7 Sep. 2012, Dubrovnik, Croatia, pp. 846-851
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J. Markdahl, Y. Karayiannidis, X. Hu and D. Kragic,
"Distributed Cooperative Object Attitude Manipulation",
in Proc. 29th IEEE 2012 International Conference on Robotics and Automation, ICRA '12, pp. 2960 - 2965, 14-18 May 2012.
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Y. Karayiannidis and Z. Doulgeri,
"Regressor-free robot joint position tracking with prescribed performance guarantees",
in Proc. IEEE 2011 International Conference on Robotics and Biomimetics, ROBIO '11 , Dec 2011, pp. 2312-2317.
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Karayiannidis Y. and Z. Doulgeri,
"Robot joint position tracking with an approximator-free prescribed performance controller",
in Proc.19th Mediterranean Conference on Control and Automation, MED '11, June 2011, pp. 564-569.
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Z. Doulgeri and Y.
Karayiannidis,
"PID type robot joint position regulation with
prescribed performance guaranties," in. Proc. IEEE 2010 International Conference on
Robotics and Automation, May '10, pp. 4137-4142.
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Z. Doulgeri ,
Y. Karayiannidis, and O. Zoidi,
"Prescribed performance control for
robot joint trajectory tracking under parametric and model
uncertainties," in IEEE 17th Mediterranean Conference on Control and
Automation, MED '09, June 2009, pp. 1313-1318.
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Y. Karayiannidis and Z. Doulgeri ,
"Adaptive control for frictional
robot contact tasks on uncertain surface slopes," in 16th
Mediterranean Conference on Control and Automation, MED '08, June
2008, pp. 932-937.
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- Y. Karayiannidis and Z. Doulgeri ,
"Robot force/position
tracking on a surface of unknown orientation," in European Robotics
Symposium 2008, H. Bruynninckx, L. Preucil, and M. Kulich, Eds.
Springer, 2008, pp. 253- 262.
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- Z. Doulgeri and Y. Karayiannidis,
"An adaptive law for slope
identification, position tracking and force regulation for a robot
in compliant contact with an unknown surface," in 15th Mediterranean
Conference on Control and Automation, MED '07, June 2007, pp. 1-6.
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Z. Doulgeri and Y.
Karayiannidis,
"Force/position tracking of a robot in compliant
contact with unknown stiffness and surface kinematics," in Proc.
IEEE 2007 International Conference on Robotics and Automation, ICRA
'07, Apr. 2007, pp. 4190 - 4195.
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Y. Karayiannidis, G. Rovithakis and Z.
Doulgeri ,
Force/Position Tracking for a Robotic Finger in Compliant
Contact with a Surface using Neuro-Adaptive Control, IEEE
International Symposium on Intelligent Control, joint 2006
CCA/CACSD/ISIC, Munich Germany, October 2006, pp. 1608 - 1613.
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Y. Karayiannidis, G. Rovithakis and Z. Doulgeri ,
"A
Neuro-Adaptive Controller for the Force/Position Tracking of a Robot
Manipulator under Model Uncertainties in Compliance and Friction,"
14th Mediterranean Conference on Control and Automation, MED '06,
June 2006, pp. 1-6.
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Y. Karayiannidis and
Z. Doulgeri ,
"An adaptive law for slope identification and force
position regulation using motion variables," in Proc. IEEE 2006
International Conference
on Robotics and Automation, ICRA '06, May 2006, pp. 3538- 3543.
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- Y. Karayiannidis and Z. Doulgeri ,
"Force/position regulation for a
robotic finger in compliant contact with an unknown surface," in
Proc. IEEE 2005 International Symposium on Intelligent Control,
Mediterranean Conference on Control and Automation, June 2005, pp.
77 - 82.
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- Z. Doulgeri and Y. Karayiannidis,
"An adaptive force regulator
for a robot in compliant contact with an unknown surface," in Proc.
IEEE 2005 International Conference on Robotics and Automation, ICRA
'05, April 2005, pp. 2685-2690.
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