Current research activities
Navigation and Control of an Underwater Robot
Design and implementation of control and navigation algorithms applied for the stable and desired motion of an AUV, during environmental monitoring tasks in an unknown and variable habitat.
Haptic Telemanipulation over the Internet
A haptic device is used to drive a mobile robot over the internet. Our research focuses on the compensation of unwanted phenomena like the delay of the data transmission.
Navigation of an Autonomous Floating Platform
The use of reinforcement learning algorithms for the motion planning of an autonomous triangular marine platform in unknown environment under various stochastic environmental disturbances.
Control of an UAV
Our goal is the design and implementation of advanced controllers aiming at the stable operation of UAVs during complex motion, e.g. landing on a moving target.
I'm a member of the Information Processing and Analysis (I.P.AN.) research group, within the Department of Computer Science and Engineering of the University of Ioannina, Greece.
Past research activities
Department of Mechanical Engineering, National Technical University of Athens, Greece
Control of Quadruped Robots
The implementation of the control subsystem of a new quadruped robot. The subsystem is responsible for the reading of various sensors, the processing of the data, and the output of the control signals to the actuators of the robot.
Haptic Robotic Devices
A novel five degrees of freedom haptic device is designed and developed as part of a medical training simulator. [video]
Floating Platform Control
The goal was the dynamic modeling and the practical implementation of an autonomous dynamic positioning scheme of a floating triangular platform. [video]
Medical Training Simulator
The haptic device mentioned earlier is part of a medical training simulator for urological minimal invasive operations. [video 1 - video 2]
Haptic Micro Tele-Manipulation
The aim was a novel haptic tele-manipulation environment. This includes an interface between a master haptic mechanism and a slave mini robotic mechanism for biomedical operations. [video 1 - video 2]
The goal was to examine whether we can use the experience of specialist surgeons to produce reliable force models for simulators. [video]