Francisco E. Viña B.

Roboticist at Pick-it 3D, Heverlee, Belgium.
Email: francisco.vina@pickit3d.com
Github: https://github.com/fevb
Linkedin: https://se.linkedin.com/in/franciscovina

About Me

As of July 2017, I am no longer associated with KTH. I am currently working at Pick-it 3D in Heverlee, Belgium developing perception systems for robot bin picking applications.

Previously I was a PhD student and postdoctoral researcher at the Robotics, Perception and Learning (RPL) department at the KTH Royal Institute of Technology in Stockholm, Sweden. My research focus was on robotic manipulation and control.

I obtained my BSc. degree in Electronics Engineering from Universidad Simón Bolívar (USB) in Caracas, Venezuela in 2012.

I defended my PhD thesis on robotic manipulation on the 13th of June, 2016. My PhD supervisors were Prof. Danica Kragic , Prof. Christian Smith and Prof. Yiannis Karayiannidis . During my PhD I was also an intern at ABB Corporate Research in Västerås, Sweden developing a robotic application with the YuMi robot for the Microbiology lab at the Karolinska Hospital in Stockholm. I also led the KTH team for the 2016 Amazon Picking Challenge.

Research Interests

Robotic manipulation and control.

Media

Team KTH, Amazon Picking Challenge 2016

ABB Corporate Research robotics internship

Adaptive Control for Pivoting with Visual and Tactile Feedback

An Adaptive Control Approach for Opening Doors and Drawers under Uncertainties

Team CVAP - Amazon Picking Challenge 2015

Online Contact Point Estimation for Uncalibrated Tool Use

Online Kinematics Estimation for Human Robot Collaboration

Adaptive door opening control

Publications

Journal papers

  1. An Adaptive Control Approach for Opening Doors and Drawers under Uncertainties

    bib    pdf   

    Yiannis Karayiannidis, Christian Smith, Francisco E. Viña B., Petter Ögren and Danica Kragic

    IEEE Transactions on Robotics, February 2016 (TRO'16).

Conference papers

  1. Adaptive Control for Pivoting with Visual and Tactile Feedback

    bib    pdf   

    Francisco E. Viña B., Yiannis Karayiannidis, Christian Smith and Danica Kragic

    2016 IEEE International Conference on Robotics and Automation (ICRA'16). Stockholm, Sweden.

  2. In-hand manipulation using gravity and controlled slip

    bib    pdf   

    Francisco Viña, Yiannis Karayiannidis, Karl Pauwels, Christian Smith and Danica Kragic

    2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'15).

  3. Dual Arm Manipulation using Constraint Based Programming

    bib    pdf   

    Yuquan Wang, Francisco Viña, Yiannis Karayiannidis, Christian Smith and Petter Ögren

    2014 IFAC World Congress (IFAC'14).

  4. Online Contact Point Estimation for Uncalibrated Tool Use

    bib    pdf   

    Yiannis Karayiannidis, Christian Smith, Francisco Viña and Danica Kragic

    2014 IEEE International Conference on Robotics and Automation (ICRA'14).

  5. Predicting Slippage and Learning Manipulation Affordances through Gaussian Process Regression

    bib    pdf   

    Francisco Viña, Yasemin Bekiroglu, Christian Smith, Yiannis Karayiannidis, and Danica Kragic

    2013 IEEE-RAS International Conference on Humanoid Robots (Humanoids'13).

  6. Online Kinematics Estimation for Active Human-Robot Manipulation of Jointly Held Objects

    bib    pdf   

    Yiannis Karayiannidis, Christian Smith, Francisco Viña and Danica Kragic

    2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'13).

  7. Model-free robot manipulation of doors and drawers by means of fixed-grasps

    bib    pdf   

    Yiannis Karayiannidis, Christian Smith, Francisco Viña, Petter Ögren and Danica Kragic

    2013 IEEE International Conference on Robotics and Automation (ICRA'13).

  8. "Open Sesame!" - Adaptive Force/Velocity Control for Opening Unknown Doors

    bib    pdf   

    Yiannis Karayiannidis, Christian Smith, Francisco Viña, Petter Ögren and Danica Kragic

    2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'12). Finalist for "Best Application Paper".

Workshop papers

  1. Adaptive Contact Point Estimation for Autonomous Tool Manipulation

    bib    pdf   

    Francisco Viña, Christian Smith, Danica Kragic and Yiannis Karayiannidis

    Autonomous Grasping and Manipulation Workshop. 2014 IEEE International Conference on Robotics and Automation (ICRA'14).

  2. Interactive perception and manipulation of unknown constrained mechanisms using adaptive control

    Yiannis Karayiannidis, Christian Smith, Francisco Viña, Petter Ögren and Danica Kragic

    Mobile Manipulation Workshop on Interactive Perception. 2013 IEEE International Conference on Robotics and Automation (ICRA'13).

  3. Design of force-driven online motion plans for door opening under uncertainties

    bib    pdf   

    Yiannis Karayiannidis, Christian Smith, Francisco Viña, Petter Ögren and Danica Kragic

    Workshop on Real-time Motion Planning: Online, Reactive and in Real-time. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'12).

Software projects

I am actively involved in developing packages in ROS.

You can check out the latest developments from our lab at our kth-ros-pkg github account and our ROS wiki page.

Teaching

I have been a teaching assistant of the Robotics and Autonomous Systems course (DD2425) during the fall terms of 2013-2015.

MSc. Thesis Supervision

During the spring term 2015 I supervised Carolina Loureiro's master thesis "Robotic grasping with optical tactile sensors".

Misc

CVAP software/hardware/robots wiki page