Constantinos Tzafestas 2021-07-20T22:33:34+00:00

Research Interests

Robotics
Human-Robot Interaction
Intelligent Control systems
Haptics
Telerobotics
Virtual Reality

Biosketch

Costas S. Tzafestas is an Assistant Professor of Robotics at the School of Electrical and Computer Engineering, National Technical University of Athens. He holds an Electrical and Computer Engineering Degree from the National Technical University of Athens (1993), as well as a D.E.A. (1994) and Ph.D. (1998) Degrees on Robotics from the Université Pierre et Marie Curie (Paris 6), France. He has previously served as a Research Associate at the Institute of Informatics and Telecommunications of the National Center for Scientific Research “Demokritos”, Athens, Greece. His current research interests include human-robot interaction, haptics and telerobotics, as well as intelligent robot control and robot skill learning, with applications in the fields of medical and assistive robotics. He has also worked on robust, adaptive and neural control with applications in dextrous manipulation and walking/mobile robots. Dr. Costas Tzafestas serves as an Associate Editor of the Journal of Intelligent and Robotic Systems, and is a member of the IEEE Robotics and Automation Society and of the IEEE Technical Committee on Haptics.

Publications

Publications

2021

George Moustris, Nikolaos Kardaris, Antigoni Tsiami, Georgia Chalvatzaki, Petros Koutras, Athanasios Dometios, Paris Oikonomou, Costas Tzafestas, Petros Maragos, Eleni Efthimiou, Xanthi Papageorgiou, Stavroula-Evita Fotinea, Yiannis Koumpouros, Anna Vacalopoulou, Effie Papageorgiou, Alexandra Karavasili, Foteini Koureta, Dimitris Dimou, Alexandros Nikolakakis, Konstantinos Karaiskos, Panagiotis Mavridis

The i-Walk Lightweight Assistive Rollator: First Evaluation Study Journal Article

Frontiers in Robotics and AI, 8 , pp. 272, 2021, ISSN: 2296-9144.

Abstract | BibTeX | Links: [PDF]

2020

Christian Werner, Athanasios C Dometios, Costas S Tzafestas, Petros Maragos, Jürgen M Bauer, Klaus Hauer

Evaluating the task effectiveness and user satisfaction with different operation modes of an assistive bathing robot in older adults Journal Article

Assistive Technology, 0 , 2020, (PMID: 32286163).

BibTeX | Links: [PDF]

A Zlatintsi, A C Dometios, N Kardaris, I Rodomagoulakis, P Koutras, X Papageorgiou, P Maragos, C S Tzafestas, P Vartholomeos, K Hauer, C Werner, R Annicchiarico, M G Lombardi, F Adriano, T Asfour, A M Sabatini, C Laschi, M Cianchetti, A Güler, I Kokkinos, B Klein, R López

I-Support: A robotic platform of an assistive bathing robot for the elderly population Journal Article

Robotics and Autonomous Systems, 126 , pp. 103451, 2020, ISSN: 0921-8890.

Abstract | BibTeX | Links: [PDF]

Christian Werner, Nikos Kardaris, Petros Koutras, Athanasia Zlatintsi, Petros Maragos, Jürgen M Bauer, Klaus Hauer

Improving gesture-based interaction between an assistive bathing robot and older adults via user training on the gestural commands Journal Article

Archives of Gerontology and Geriatrics, 87 , pp. 103996, 2020, ISSN: 0167-4943.

Abstract | BibTeX | Links: [PDF]

2019

Georgia Chalvatzaki, Xanthi S Papageorgiou, Petros Maragos, Costas S Tzafestas

Learn to adapt to human walking: A Model-based Reinforcement Learning Approach for a Robotic Assistant Rollator Journal Article

IEEE Robotics and Automation Letters (with IROS option), 4 (4), pp. 3774–3781, 2019.

BibTeX | Links: [PDF]

2018

A C Dometios, Y Zhou, X S Papageorgiou, C S Tzafestas, T Asfour

Vision-Based Online Adaptation of Motion Primitives to Dynamic Surfaces: Application to an Interactive Robotic Wiping Task Journal Article

IEEE Robotics and Automation Letters, 3 (3), pp. 1410-1417, 2018.

Abstract | BibTeX | Links: [PDF]

X S Papageorgiou, G Chalvatzaki, A Dometios, C S Tzafestas

Human-Centered Service Robotic Systems for Assisted Living Conference

Proceedings of the 27th International Conference on Robotics in Alpe-Adria Danube Region (RAAD 2018), 2018.

Abstract | BibTeX | Links: [PDF]

A Zlatintsi, I Rodomagoulakis, P Koutras, A ~C Dometios, V Pitsikalis, C ~S Tzafestas, P Maragos

Multimodal Signal Processing and Learning Aspects of Human-Robot Interaction for an Assistive Bathing Robot Conference

Proc. IEEE Int'l Conf. Acous., Speech, and Signal Processing, Calgary, Canada, 2018.

Abstract | BibTeX | Links: [PDF]

Jack Hadfield, Petros Koutras, Niki Efthymiou, Gerasimos Potamianos, Costas S Tzafestas, Petros Maragos

Object assembly guidance in child-robot interaction using RGB-D based 3d tracking Inproceedings

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 347–354, IEEE 2018.

BibTeX | Links: [PDF]

2017

G Chalvatzaki, X S Papageorgiou, C S Tzafestas, P Maragos

HMM-based Pathological Gait Analyzer for a User-Adaptive Intelligent Robotic Walker Conference

Proc. 25th European Conf.(EUSIPCO-17) Workshop: "MultiLearn 2017 - Multimodal processing, modeling and learning for human-computer/robot interaction applications", Kos, Greece, 2017.

Abstract | BibTeX | Links: [PDF]

A C Dometios, A Tsiami, A Arvanitakis, P Giannoulis, X S Papageorgiou, C S Tzafestas, P Maragos

Integrated Speech-based Perception System for User Adaptive Robot Motion Planning in Assistive Bath Scenarios Conference

Proc. of the 25th European Signal Processing Conference - Workshop: "MultiLearn 2017 - Multimodal processing, modeling and learning for human-computer/robot interaction applications", Kos, Greece, 2017.

Abstract | BibTeX | Links: [PDF]

A C Dometios, X S Papageorgiou, A Arvanitakis, C S Tzafestas, P Maragos

Real-time End-effector Motion Behavior Planning Approach Using On-line Point-cloud Data Towards a User Adaptive Assistive Bath Robot Conference

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017.

Abstract | BibTeX | Links: [PDF]

G Chalvatzaki, X S Papageorgiou, C S Tzafestas

Towards a user-adaptive context-aware robotic walker with a pathological gait assessment system: First experimental study Conference

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.

Abstract | BibTeX | Links: [PDF]

G Chalvatzaki, X S Papageorgiou, C S Tzafestas, P Maragos

Estimating double support in pathological gaits using an HMM-based analyzer for an intelligent robotic walker Conference

IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2017.

Abstract | BibTeX | Links: [PDF]

G Chalvatzaki, X S Papageorgiou, C S Tzafestas, P Maragos

Comparative experimental validation of human gait tracking algorithms for an intelligent robotic rollator Conference

IEEE International Conference on Robotics and Automation (ICRA), 2017.

Abstract | BibTeX | Links: [PDF]

A Zlatintsi, I Rodomagoulakis, V Pitsikalis, P Koutras, N Kardaris, X Papageorgiou, C Tzafestas, P Maragos

Social Human-Robot Interaction for the Elderly: Two Real-life Use Cases, Conference

ACM/IEEE International Conference on Human-Robot Interaction (HRI), Vienna, Austria, 2017.

Abstract | BibTeX | Links: [PDF]

X S Papageorgiou, G Chalvatzaki, A Dometios, C S Tzafestas, P Maragos

Intelligent Assistive Robotic Systems for the Elderly: Two Real-life Use Cases Conference

C_PETRA, ACM, Island of Rhodes, Greece, 2017, ISBN: 978-1-4503-5227-7.

Abstract | BibTeX | Links: [PDF]

Mehdi Khamassi, George Velentzas, Theodore Tsitsimis, Costas Tzafestas

Active exploration and parameterized reinforcement learning applied to a simulated human-robot interaction task Conference

Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017, 2017, ISBN: 9781509067237.

Abstract | BibTeX | Links: [PDF]

2016

John N Karigiannis, Costas S Tzafestas

Model-free learning on robot kinematic chains using a nested multi-agent topology Journal Article

Journal of Experimental and Theoretical Artificial Intelligence, 28 (6), pp. 913–954, 2016, ISSN: 13623079.

Abstract | BibTeX | Links:

A Guler, N Kardaris, S Chandra, V Pitsikalis, C Werner, K Hauer, C Tzafestas, P Maragos, I Kokkinos

Human Joint Angle Estimation and Gesture Recognition for Assistive Robotic Vision Conference

Proc. of Workshop on Assistive Computer Vision and Robotics, European Conf. on Computer Vision (ECCV-2016), Amsterdam, The Netherlands, 2016.

Abstract | BibTeX | Links: [PDF]

A C Dometios, X S Papageorgiou, C S Tzafestas, P Vartholomeos

Towards ICT-supported Bath Robots: Control Architecture Description and Localized Perception of User for Robot Motion Planning Conference

Mediterranean Conference on Control and Automation (MED), Athens, Greece, 2016.

Abstract | BibTeX | Links: [PDF]

X S Papageorgiou, G Chalvatzaki, K N Lianos, C Werner, K Hauer, C S Tzafestas, P Maragos

Experimental validation of human pathological gait analysis for an assisted living intelligent robotic walker Conference

C_BIOROB, 2016.

Abstract | BibTeX | Links: [PDF]

G Chalvatzaki, X S Papageorgiou, C Werner, K Hauer, C S Tzafestas, P Maragos

Experimental comparison of human gait tracking algorithms: Towards a context-aware mobility assistance robotic walker Conference

Mediterranean Conference on Control and Automation (MED), 2016.

Abstract | BibTeX | Links: [PDF]

2015

X S Papageorgiou, C S Tzafestas, C Vartholomeos Laschi, R Lopez

ICT-Supported Bath Robots: Design Concepts Conference

C_ICSR, 2015.

Abstract | BibTeX | Links: [PDF]

G Papageorgiou X.S. Moustris, G Pitsikalis V. Chalvatzaki, A Dometios, N Kardaris, C S Tzafestas, P Maragos

User-Oriented Cognitive Interaction and Control for an Intelligent Robotic Walker Conference

17th International Conference on Social Robotics (ICSR 2015), 2015.

Abstract | BibTeX | Links: [PDF]

G Chalvatzaki, X S Papageorgiou, C S Tzafestas

Gait Modelling for a Context-Aware User-Adaptive Robotic Assistant Platform Conference

2015, ISSN: 978-88-97999-63-8.

Abstract | BibTeX | Links: [PDF]

X S Papageorgiou, G Chalvatzaki, C S Tzafestas, P Maragos

Hidden markov modeling of human pathological gait using laser range finder for an assisted living intelligent robotic walker Conference

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

Abstract | BibTeX | Links: [PDF]

Costas S Tzafestas, Xanthi S Papageorgiou, George P Moustris

User-Oriented Human-Robot Interaction for an Intelligent Walking Assistant Robotic Device Conference

Workshop IEEE/RSJ Int'l Conf. on Intelligent Robots and Systems, Invited Session: "Cognitive Mobility Assistance Robots: Scientific Advances and Perspectives", Hamburg, Germany, Sept. 28 - Oct. 02, 2015, 2015.

BibTeX

2014

S Khan, A Dometios, C Verginis, C Tzafestas, D Wollherr, M Buss

RMAP: a Rectangular Cuboid Approximation Framework for 3D Environment Mapping Journal Article

37 (3), pp. 261–277, 2014, ISSN: 1573-7527.

Abstract | BibTeX | Links: [PDF]

Sheraz Khan, Athanasios Dometios, Chris Verginis, Costas Tzafestas, Dirk Wollherr, Martin Buss

RMAP: A rectangular cuboid approximation framework for 3D environment mapping Journal Article

Autonomous Robots, 37 (3), pp. 261–277, 2014, ISSN: 09295593.

Abstract | BibTeX | Links:

X S Papageorgiou, G Chalvatzaki, C S Tzafestas, P Maragos

Hidden Markov modeling of human normal gait using laser range finder for a mobility assistance robot Conference

IEEE International Conference on Robotics and Automation (ICRA), 2014, ISSN: 1050-4729.

Abstract | BibTeX | Links: [PDF]

X S Papageorgiou, C S Tzafestas, P Maragos, G Pavlakos, G Chalvatzaki, G Moustris, I Kokkinos, A Peer, B Stanczyk, E -S Fotinea, E Efthimiou

Advances in Intelligent Mobility Assistance Robot Integrating Multimodal Sensory Processing Conference

J_HCII, Springer International Publishing, Cham, 2014, ISBN: 978-3-319-07446-7.

Abstract | BibTeX | Links: [PDF]

2013

Costas S Tzafestas, Spyros Velanas

Telehaptic perception of delayed stiffness using adaptive impedance control: Experimental psychophysical analysis Journal Article

Presence: Teleoperators and Virtual Environments, 22 (4), pp. 323–344, 2013, ISSN: 15313263.

Abstract | BibTeX | Links:

G.P. Moustris, A.I. Mantelos, C.S. Tzafestas

Active motion compensation in robotic cardiac surgery Conference

2013 European Control Conference, ECC 2013, 2013, ISBN: 9783033039629.

Abstract | BibTeX

G. P. Moustris, A. I. Mantelos, C. S. Tzafestas

Enhancing surgical accuracy using virtual fixtures and motion compensation in robotic beating heart surgery Conference

2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings, 2013, ISSN: 1050-4729.

Abstract | BibTeX | Links:

G. P. Moustris, A. I. Mantelos, C. S. Tzafestas

Enhancing surgical accuracy using virtual fixtures and motion compensation in robotic beating heart surgery Conference

2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings, 2013, ISSN: 10504729.

Abstract | BibTeX | Links:

2012

Sheraz Khan, Nikos Mitsou, Dirk Wollherr, Costas Tzafestas

An optimization approach for 3D environment mapping using normal vector uncertainty Conference

2012 12th International Conference on Control Automation Robotics & Vision (ICARCV), 2012 (December), 2012, ISBN: 978-1-4673-1872-3.

Abstract | BibTeX | Links: [PDF]

Nikos Mitsou, Roderick de Nijs, David Lenz, Johannes Frimberger, Dirk Wollherr, Kolja Kühnlenz, Costas Tzafestas

Gesture and Sign Language in Human-Computer Interaction and Embodied Communication Conference

Spatial Cognition VIII, 7206 , 2012, ISSN: 03029743.

Abstract | BibTeX | Links: [PDF]

Spyros V. Velanas, Costas S. Tzafestas

Model-mediated telehaptic perception of delayed curvature Conference

Proceedings - IEEE International Workshop on Robot and Human Interactive Communication, 2012, ISBN: 9781467346054.

Abstract | BibTeX | Links:

John N. Karigiannis, Costas S. Tzafestas

Robustness and generalization of model-free learning for robot kinematic control using a nested-hierarchical multi-agent topology Conference

Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, 2012, ISSN: 21551774.

Abstract | BibTeX | Links:

2011

Nikos Mitsou, Irene Ntoutsi, Dirk Wollherr, Costas Tzafestas, Hans Peter Kriegel

Revealing cluster formation over huge volatile robotic data Conference

Proceedings - IEEE International Conference on Data Mining, ICDM, 2011, ISSN: 15504786.

Abstract | BibTeX | Links:

2010

John N. Karigiannis, Theodoros I. Rekatsinas, Costas S. Tzafestas

Fuzzy rule based neuro-dynamic programming for mobile robot skill acquisition on the basis of a nested multi-agent architecture Conference

2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010, 2010, ISBN: 9781424493173.

Abstract | BibTeX | Links:

John N Karigiannis, Theodoros I Rekatsinas, Costas S Tzafestas

Hierarchical Multi-Agent Architecture employing TD ( $łambda$ ) Learning with Function Approximators for Robot Skill Acquisition Conference

Architecture, 2010.

BibTeX

Spyros V Velanas, Costas S Tzafestas

Human Telehaptic Perception of Stiffness using an Adaptive Impedance Re fl ection Bilateral Teleoperation Control Scheme Conference

In: Proceedings of the IEEE International Workshop on Robot and Human Interactive Communication, ROMAN-2010, 2010, ISBN: 9781424479894.

BibTeX

2009

C. Tzafestas, N. Mitsou, N. Georgakarakos, O. Diamanti, P. Maragos, S. E. Fotinea, E. Efthimiou

Gestural teleoperation of a mobile robot based on visual recognition of sign language static handshapes Conference

Proceedings - IEEE International Workshop on Robot and Human Interactive Communication, 2009, ISSN: 19449445.

Abstract | BibTeX | Links:

M. Alifragis, C.S. Tzafestas

Stereo pair matching of archaeological scenes using phase domain methods Conference

IMAGAPP 2009 - Proceedings of the 1st International Conference on Computer Imaging Theory and Applications, 2009, ISBN: 9789898111685.

Abstract | BibTeX

C Tzafestas

Telehaptics: issues of control stability and human perception in remote kineasthetic exploration Conference

18th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2009), Workshop on Robot-Human Synergies, Sept. 27 - Oct. 2 2009, 2009.

BibTeX

S.E. Fotinea, Eleni Efthimiou, George Caridakis, Olga Diamanti, N. Mitsou, K. Karpouzis, C. Tzafestas, P. Maragos

DIANOEMA: Visual analysis and sign recognition for GSL modelling and robot teleoperation Conference

Language and Speech, 2009.

BibTeX | Links: [PDF]

2008

Costas S Tzafestas, Kostas Birbas, Yiannis Koumpouros, Dimitri Christopoulos

Pilot Evaluation Study of a Virtual Paracentesis Simulator for Skill Training and Assessment: The Beneficial Effect of Haptic Display Journal Article

Presence: Teleoperators & Virtual Environments, 17 (2), pp. 212–229, 2008, ISBN: 10547460.

Abstract | BibTeX | Links: [PDF]

John N. Karigiannis, Costas S. Tzafestas

Multi-agent hierarchical architecture modeling kinematic chains employing continuous RL learning with fuzzified state space Conference

Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008, 2008, ISBN: 9781424428830.

Abstract | BibTeX | Links:

Costas Tzafestas, Spyros Velanas, George Fakiridis

Adaptive impedance control in haptic teleoperation to improve transparency under time-delay Conference

Proceedings - IEEE International Conference on Robotics and Automation, 2008, ISSN: 10504729.

Abstract | BibTeX | Links:

Costas S. Tzafestas, Kostas Birbas, Yiannis Koumpouros, Dimitris Christopoulos

Pilot evaluation study of a virtual paracentesis simulator for skill training and assessment: The beneficial effect of haptic display Conference

Presence: Teleoperators and Virtual Environments, 17 (2), 2008, ISSN: 10547460.

Abstract | BibTeX | Links: [PDF]

Manthos Alifragis, Andreas Mantelos, Costas S. Tzafestas

Web-based remote and virtual programming console of the V+ robotic system Conference

IECON Proceedings (Industrial Electronics Conference), 2008, ISSN: 1553-572X.

Abstract | BibTeX | Links:

2007

Nikos Mitsou, Costas Tzafestas

Maximum likelihood SLAM in dynamic environments Conference

Proceedings - International Conference on Tools with Artificial Intelligence, ICTAI, 1 , 2007, ISSN: 10823409.

Abstract | BibTeX | Links:

Nikos C. Mitsou, Costas S. Tzafestas

Temporal Occupancy Grid for mobile robot dynamic environment mapping Conference

2007 Mediterranean Conference on Control and Automation, MED, 2007, ISBN: 142441282X.

Abstract | BibTeX | Links:

2006

Costas S Tzafestas, Nektaria Palaiologou, Manthos Alifragis

Virtual and remote robotic laboratory: Comparative experimental evaluation Journal Article

IEEE Transactions on Education, 49 (3), pp. 360–369, 2006, ISSN: 00189359.

Abstract | BibTeX | Links:

I Kaklamanos A Vezakis G Polymeneas G Bonatsos Κ. Birbas C. Tzafestas

Spatial ability can predict laparoscopic skill performance of novice surgeons Conference

10th World Congress of Endoscopic Surgery and 14th International Congress of the European Association for Endoscopic Surgery (EAES), Β$epsilon$$rho$ο$łambda$ί$nu$ο, 13-16 Sept. 2006., 2006.

BibTeX

D Christopoulos I Kaklamanos G Bonatsos Κ. Birbas C. Tzafestas

Virtual paracentesis simulator (DEX): impact of haptic interaction on the learning curve Conference

10th World Congress of Endoscopic Surgery and 14th International Congress of the European Association for Endoscopic Surgery (EAES), Β$epsilon$$rho$ο$łambda$ί$nu$ο, 13-16 Sept. 2006., 2006.

BibTeX

Nikos C. Mitsou, Spyros V. Velanas, Costas S. Tzafestas

Visuo-haptic interface for teleoperation of mobile robot exploration tasks Conference

Proceedings - IEEE International Workshop on Robot and Human Interactive Communication, 2006, ISSN: 1-4244-0565-3.

Abstract | BibTeX | Links:

2005

N Palaiologou, C Tzafestas

Training scenarios for students on virtual and remote robotic laboratory platforms Journal Article

2005.

BibTeX

CS Tzafestas, N Palalologou, M Alifragis

Experimental evaluation and pilot assessment study of a virtual and remote laboratory on robotic manipulation Conference

IEEE International Symposium on Industrial Electronics (ISIE'05), p.1677-1683, Dubrovnik, Croatia, Jun 20-23, 2005, 2005, ISBN: 0-7803-8738-4.

Abstract | BibTeX

K Birbas C. Tzafestas

Haptic Interaction in Simulating the Paracentesis of Great Vessels for Clinical Skill Enhancement Conference

WorldHaptics'2005, First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Pisa, Italy March 18-20, 2005, 2005.

BibTeX

John N. Karigiannis, Costas S. Tzafestas

Multi-agent architecture with continuous reinforcement learning in fuzzy state-space for robot manipulation control Conference

International Conference on Integrated Modeling and Analysis in Applied Control and Automation, IMAACA 2005, Held at the International Mediterranean Modeling Multiconference, I3M 2005, 2005.

Abstract | BibTeX | Links: [PDF]

2004

C S Tzafestas, M Alifragis, N Palaiologou, S.C.A Thomopoulos, A -E Exarchou, A Kroys, R Kunicke

Virtual Robotic Laboratory : Applying web-based teleoperation technologies to distance training in robot manipulator programming Conference

Rev 2004: 1st International Conference on Remote Engineering and Virtual Instrumentation, 2004.

BibTeX

CS Tzafestas, M Alifragis

Development and experimental evaluation of a remote laboratory platform for teaching robot manipulator programming Conference

Proc. Int. Conf. łdots, (c), 2004.

BibTeX | Links: [PDF]

C S Tzafestas Y Koumpouros G Bonatsos K. Birbas I.G. Kaklamanos

Dexterity enhancement and assessment of training in paracentesis of great vessels by using a virtual reality based interactive system (DEX system) Conference

(poster), 90th Annual Clinical Congress, American College of Surgeons, October 10-14, 2004, New Orleans, LA, USA, 2004.

BibTeX

C. S. Tzafestas, Y. Koumpouros, K. Birbas

Haptic interaction in VR-based paracentesis simulation for dexterity enhancement and assessment Conference

International Congress Series, 1268 (C), 2004, ISSN: 05315131.

Abstract | BibTeX | Links:

2003

Costas S Tzafestas

Whole-Hand Kinesthetic Feedback and Haptic Perception in Dextrous Virtual Manipulation Journal Article

IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans., 33 (1), pp. 100–113, 2003, ISSN: 10834427.

Abstract | BibTeX | Links: [PDF]

C S Tzafestas, Y Koumpouros, K Birbas

Paracentesis modeling and VR-based interactive simulation with haptic display for clinical skill training and assessment Conference

in Proceedings of The International Conference on Integrated Modeling & Analysis in Applied Control & Automation (IMAACA'2004), Special Session on: Virtual Reality and Haptics for Modeling, Design and Interactive Simulation. I3M: International Mediterranean Modeling Multiconference, Genoa, Italy, October 28-31 2004, 2003.

BibTeX

2002

Costas S Tzafestas, Petros Maragos

Shape connectivity: Multiscale analysis and application to generalized granulometries Journal Article

Journal of Mathematical Imaging and Vision, 17 (2), pp. 109–129, 2002, ISSN: 09249907.

Abstract | BibTeX | Links: [PDF]

2001

C S Tzafestas, S G Tzafestas

Full-State Modeling, Motion Planning and Control of Mobile Manipulators Journal Article

2001.

BibTeX

S.G. Tzafestas P.A. Prokopiou, C S Tzafestas

A New Partitioned Robot Neurocontroller: General Analysis and Application to Teleoperator Modeling Uncertainties Compensation Journal Article

2001.

BibTeX

C S Tzafestas

Multimodal Teleoperation Interface integrating VR Models for a Mobile Robotic Assistant Conference

Proc. 10th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD'2001), Vienna, Austria, May 16-18, 2001, 2001.

BibTeX

C S Tzafestas, S G Tzafestas

Mobile Manipulators: Full-State Modeling, Motion Planning and Control Conference

17th Intl. Conference on CAD/CAM, Robotics and the Factories of the Future (CARS & FOF '2001), Durban, South Africa, July 2001, 2001.

BibTeX

Costas S. Tzafestas

Teleplanning by human demonstration for VR-based teleoperation of a mobile robotic assistant Conference

Proceedings - IEEE International Workshop on Robot and Human Interactive Communication, 2001, ISBN: 0780372220.

Abstract | BibTeX | Links:

2000

C S Tzafestas, Ph Coiffet

Dexterous haptic interaction with virtual environments: hand-distributed kinesthetic feedback and haptic perception Journal Article

38 (2), pp. 433–476, 2000, ISSN: 02329298.

Abstract | BibTeX

C S Tzafestas, P A Prokopiou, S G Tzafestas

A differential motion planning algorithm for controlling multi-robot systems handling a common object Journal Article

Control and Cybernetics, 29 (2), pp. 566–584, 2000, ISSN: 03248569.

Abstract | BibTeX

Petros Maragos, Giorgos Stamou, Spyros Tzafestas

A lattice control model of fuzzy dynamical systems in state-space ∗ Conference

in Mathematical Morphology and Its Application to Image and Signal Processing, J. Goutsias, L. Vincent and D. Bloomberg, Editors, Kluwer Academic Publishers, Boston, 2000, pp. 61--70, 70 (ii), 2000.

BibTeX | Links: [PDF]

C. S. Tzafestas, Ph Coiffet

Dexterous haptic interaction with virtual environments: hand-distributed kinesthetic feedback and haptic perception Conference

Proc. IARP First International Workshop on Humanoid and Human Friendly Robotics, Tsukuba, Japan, October 26-27, 1998, 38 (2), 2000, ISSN: 02329298.

Abstract | BibTeX

Costas S Tzafestas, Dimitris Valatsos

VR-based Teleoperation of a Mobile Robotic Assistant : Progress Report Conference

in Proc: European Workshop on Service and Humanoid Robots (Servicerob'2001), pp.51-56, Santorini, Greece, 2001, (c), 2000.

BibTeX

1999

S G Tzafestas, C S Tzafestas

Virtual Reality in Telerobotics: The State-of-the-Art Conference

Proc. IEEE Intl. Symposium on Industrial Electronics (ISIE'99), Bled, Slovenia, July 12-16, 1999, 1999.

BibTeX

Petros Maragos, Spyros G Tzafestas

Min-Max Control with Application to Discrete Event Dynamic Systems Conference

Proc. of 3rd European Robotics, Intelligent Systems, and Control Conf. (EURISCON-98), Athens, pp. 185-186, June 1998, (June 1998), 1999.

BibTeX

Costas S Tzafestas, Spyros G Tzafestas

Recent algorithms for fuzzy and neurofuzzy path planning and navigation of autonomous mobile robots Conference

Systems Science, 25 (2), 1999, ISSN: 01371223.

Abstract | BibTeX

Costas S. Tzafestas, Spyros G. Tzafestas

Recent algorithms for fuzzy and neurofuzzy path planning and navigation of autonomous mobile robots Conference

Systems Science, 25 (2), 1999, ISSN: 01371223.

Abstract | BibTeX

1998

Costas S Tzafestas, Platon A Prokopiou, Spyros G Tzafestas

Path Planning and Control of a Cooperative Three-Robot System Manipulating Large Objects Journal Article

Journal of Intelligent and Robotic Systems: Theory and Applications, 22 (2), pp. 99–116, 1998, ISSN: 09210296.

Abstract | BibTeX | Links:

A Kheddar, C Tzafestas

Fitting tele-operation and virtual reality technologies towards teleworking Conference

FIR'98, 4th French-Israeli łdots, 1998.

BibTeX | Links: [PDF]

1997

S G a Tzafestas, T E a Krikochoritis, C S b Tzafestas

Robust Sliding-mode Control of Nine-link Biped Robot Walking Journal Article

Journal of Intelligent and Robotic Systems: Theory and Applications, 20 (2-4), pp. 375–402, 1997, ISSN: 09210296.

Abstract | BibTeX | Links: [PDF]

Costas S Tzafestas, Nacer K M'Sirdi, N Manamani

Adaptive Impedance Control Applied to a Pneumatic Legged Robot Journal Article

Journal of Intelligent & Robotic Systems, 20 (2), pp. 105–129, 1997, ISSN: 0921-0296.

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S. G. Tzafestas, P. A. Prokopiou, C. S. Tzafestas

Robust telemanipulator control using a partitioned neural network architecture Conference

IEEE International Conference on Neural Networks - Conference Proceedings, 3 , 1997, ISSN: 10987576.

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Spyros G. Tzafestas, Platon A. Prokopiou, Costas S. Tzafestas

Telemanipulator neurocontrol using multiple RBF networks Conference

IEEE International Symposium on Intelligent Control - Proceedings, 1997.

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A. Kheddar, C. Tzafestas, P. Coiffet

The hidden robot concept-high level abstraction teleoperation Conference

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97, 3 , 1997, ISBN: 0-7803-4119-8.

Abstract | BibTeX | Links: [PDF]

T E Krikochoritis S.G. Tzafestas, C S Tzafestas

Robust and Adaptive Control of Biped Robot Walking Conference

Proc. 1st MobiNet Symp. on Mobile Robotics Technology for Health Care Services (MOBINET'97), Athens, Greece, May 15-16, 271-286, 1997, 1997.

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P Coiffet A. Kheddar C. Tzafestas, I Mazon C Laugier & R Chellali T. Kotoku K. Tanie

Parallel, Multi-Robot Long-Distance Teleoperation Conference

Proc. 1997 IEEE International Conference on Advanced Robotics (ICAR'97), pp.1007-1012, Monterey, CA, USA, July 7-9, 1997, 1997.

BibTeX

P A Prokopiou C.S. Tzafestas S.G. Tzafestas

Incremental Control of Three Cooperating Robots in Large-Object-Transfer Operations Conference

Proc. 2nd MATHMOD: Mathematical Modeling IMACS Symposium, Vienna, Feb.5-7, 1997, 1997.

BibTeX

Costas Tzafestas, Philippe Coiffet

Computing optimal forces for generalized kinesthetic feedback on the human hand during virtual grasping and manipulation Conference

Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4), 1 , 1997, ISSN: 10504729.

Abstract | BibTeX | Links: [PDF]

Costas S. Tzafestas, Nacer K. M'Sirdi, N. Manamani

Adaptive Impedance Control Applied to a Pneumatic Legged Robot Conference

Journal of Intelligent & Robotic Systems, 20 (2), 1997, ISSN: 0921-0296.

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1996

Tzafestas C S S.G. Tzafestas M. Raibert

Robust Sliding Mode Control Applied to a 5-link Biped Robot Journal Article

1996.

BibTeX

A Kheddar, C Tzafestas, P Coiffet, T Kotoku, K Tanie

Multi-robot teleoperation using direct human hand actions Journal Article

Advanced Robotics, 11 (8), pp. 799–825, 1996, ISSN: 15685535.

Abstract | BibTeX | Links:

C Tzafestas, P Coiffet

Real-time collision detection using spherical octrees: virtual reality application Conference

Robot and Human Communication, 1996., 5th IEEE International Workshop on, 1996, ISBN: 0780332539.

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1993

M Raibert, S Tzafestas, C Tzafestas

Comparative simulation study of three control techniques applied to a biped robot Conference

International Conference on Systems, Man and Cybernetics, Le Touquet, France, 1993.

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