Selected Publications
Probabilistic Contact State Estimation for Legged Robots using Inertial Information
- M. Maravgakis, D-E. Argyropoulos, S. Piperakis and Panos Trahanias, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, May, 2023.
Robust Contact State Estimation in Humanoid Walking Gaits
- S. Piperakis, M. Maravgakis, D. Kanoulas and Panos Trahanias, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, October, 2022.
roboSLAM: Dense RGB-D SLAM for Humanoid Robots
E. Hourdakis, S. Piperakis and P. Trahanias, Proceedings of the IEEE/RSJ International Conference of Intelligent Robots and Systems (IROS), Prague, Czech Republic, September, 2021.
Time-aware Multi-agent Symbiosis
M. Maniadakis, E. Hourdakis, M. Sigalas, S. Piperakis, M. Koskinopoulou and P. Trahanias, Frontiers in Robotics and AI, vol. 7., November, 2020.
Outlier-Robust State Estimation for Humanoid Robots
S. Piperakis, D. Kanoulas, N. Tsagarakis, P. Trahanias, Proceedings of the IEEE/RSJ International Conference of Intelligent Robots and Systems (IROS), Macau, China, November, 2019.
Unsupervised Gait Phase Estimation for Humanoid Robots
S. Piperakis, S. Timotheatos, P. Trahanias, Proceedings of the IEEE International Conference of Robotics and Automation (ICRA), Montreal, Canada, May, 2019.
Humanoid Robot Dense RGB-D SLAM for Embedded Devices
S. Piperakis, N. Tavoularis, E. Hourdakis, D. Kanoulas, P. Trahanias, in IEEE International Conference on Robotics and Automation (ICRA): 3rd Full-Day Workshop “Towards Real-World Deployment of Legged Robots”, Montreal, Canada, May, 2019
Nonlinear State Estimation for Humanoid Robot Walking
S. Piperakis, M. Koskinopoulou, P. Trahanias, in IEEE Robotics Automation Letters (RA-L), vol. 3, no. 4, pp. 3347-3354, October, 2018
and in Proceedings of the IEEE/RSJ International Conference of Intelligent Robots and Systems (IROS), Madrid, Spain, October, 2018.
Cascade Non-Linear State Estimation for Humanoid Robot Locomotion
S. Piperakis, P. Trahanias, in Dynamic Walking (DW), Mariehamn, Finland, June, 2017
Non-Linear ZMP-based State Estimation for Humanoid Robot Locomotion
S. Piperakis, P. Trahanias, in Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), Cancun, Mexico, November, 2016. (Finalist for the best Interactive Paper Award)
Learning from Demonstration Facilitates Human-Robot Collaborative Task Execution
M. Koskinopoulou, S. Piperakis, P. Trahanias, in Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI), Christchurch, New Zealand, March, 2016
Predictive Control for Dynamic Locomotion of Real Humanoid Robots
S. Piperakis, E. Orfanoudakis, M.G. Lagoudakis, in Proceedings of the IEEE/RSJ International Conference of Intelligent Robots and Systems (IROS), Chicago, Illinois, September, 2014.