Constantinos Tzafestas 2019-10-24T13:27:10+00:00

Research Interests

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

Teaching

Circuit Theory
Robotics I: Analysis – Control – Laboratory
Robotics II: Intelligent Robotic Systems

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

2020

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

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).

Links | BibTeX

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

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 | Links | BibTeX

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

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 | Links | BibTeX

2019

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

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.

Links | BibTeX

2018

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

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 | Links | BibTeX

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

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 | Links | BibTeX

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

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 | Links | BibTeX

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

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.

Links | BibTeX

2017

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

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 | Links | BibTeX

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

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 | Links | BibTeX

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

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 | Links | BibTeX

Chalvatzaki, G; Papageorgiou, X S; Tzafestas, C S

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 | Links | BibTeX

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

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 | Links | BibTeX

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

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

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

Abstract | Links | BibTeX

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

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 | Links | BibTeX

Khamassi, Mehdi; Velentzas, George; Tsitsimis, Theodore; Tzafestas, Costas

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 | Links | BibTeX

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

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 | Links | BibTeX

2016

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

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 | Links | BibTeX

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

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 | Links | BibTeX

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

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

C_BIOROB, 2016.

Abstract | Links | BibTeX

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

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 | Links | BibTeX

Karigiannis, John N; Tzafestas, Costas S

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 | Links | BibTeX

2015

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

ICT-Supported Bath Robots: Design Concepts Conference

C_ICSR, 2015.

Abstract | Links | BibTeX

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

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

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

Abstract | Links | BibTeX

Chalvatzaki, G; Papageorgiou, X S; Tzafestas, C S

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

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

Abstract | Links | BibTeX

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

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 | Links | BibTeX

Tzafestas, Costas S; Papageorgiou, Xanthi S; Moustris, George P

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

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

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 | Links | BibTeX

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

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 | Links | BibTeX

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

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

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

Abstract | Links | BibTeX

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

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

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

Abstract | Links | BibTeX

2013

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

Active motion compensation in robotic cardiac surgery Conference

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

Abstract | BibTeX

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

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 | Links | BibTeX

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

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 | Links | BibTeX

Tzafestas, Costas S; Velanas, Spyros

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 | Links | BibTeX

2012

Khan, Sheraz; Mitsou, Nikos; Wollherr, Dirk; Tzafestas, Costas

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 | Links | BibTeX

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

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

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

Abstract | Links | BibTeX

Velanas, Spyros V; Tzafestas, Costas S

Model-mediated telehaptic perception of delayed curvature Conference

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

Abstract | Links | BibTeX

Karigiannis, John N; Tzafestas, Costas S

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 | Links | BibTeX

2011

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

Revealing cluster formation over huge volatile robotic data Conference

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

Abstract | Links | BibTeX

2010

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

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 | Links | BibTeX

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

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

Architecture, 2010.

BibTeX

Velanas, Spyros V; Tzafestas, Costas S

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

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

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

Language and Speech, 2009.

Links | BibTeX

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

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 | Links | BibTeX

Alifragis, M; Tzafestas, C S

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

Tzafestas, C

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

2008

Tzafestas, Costas; Velanas, Spyros; Fakiridis, George

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 | Links | BibTeX

Karigiannis, John N; Tzafestas, Costas S

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 | Links | BibTeX

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

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 | Links | BibTeX

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

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 | Links | BibTeX

Alifragis, Manthos; Mantelos, Andreas; Tzafestas, Costas S

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

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

Abstract | Links | BibTeX

2007

Mitsou, Nikos; Tzafestas, Costas

Maximum likelihood SLAM in dynamic environments Conference

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

Abstract | Links | BibTeX

Mitsou, Nikos C; Tzafestas, Costas S

Temporal Occupancy Grid for mobile robot dynamic environment mapping Conference

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

Abstract | Links | BibTeX

2006

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

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

Tzafestas, Costas S; Palaiologou, Nektaria; Alifragis, Manthos

Virtual and remote robotic laboratory: Comparative experimental evaluation Journal Article

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

Abstract | Links | BibTeX

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

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

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

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 | Links | BibTeX

2005

Tzafestas, CS; Palalologou, N; Alifragis, M

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

C. Tzafestas, Birbas K

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

Karigiannis, John N; Tzafestas, Costas S

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 | Links | BibTeX

Palaiologou, N; Tzafestas, C

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

2005.

BibTeX

2004

Tzafestas, CS; Alifragis, M

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

Proc. Int. Conf. łdots, (c), 2004.

Links | BibTeX

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

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

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

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

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

Abstract | Links | BibTeX

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

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

2003

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

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

Tzafestas, Costas S

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 | Links | BibTeX

2002

Tzafestas, Costas S; Maragos, Petros

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 | Links | BibTeX

2001

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

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

2001.

BibTeX

Tzafestas, C S; Tzafestas, S G

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

2001.

BibTeX

Tzafestas, C S; Tzafestas, S G

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

Tzafestas, C S

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

Tzafestas, Costas S

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 | Links | BibTeX

2000

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

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

Maragos, Petros; Stamou, Giorgos; Tzafestas, Spyros

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.

Links | BibTeX

Tzafestas, C S; Coiffet, Ph

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

Tzafestas, C S; Coiffet, Ph

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

Tzafestas, Costas S; Valatsos, Dimitris

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

Maragos, Petros; Tzafestas, Spyros G

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

Tzafestas, Costas S; Tzafestas, Spyros G

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

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

Abstract | BibTeX

Tzafestas, Costas S; Tzafestas, Spyros G

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

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

Abstract | BibTeX

Tzafestas, S G; Tzafestas, C S

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

1998

Kheddar, A; Tzafestas, C

Fitting tele-operation and virtual reality technologies towards teleworking Conference

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

Links | BibTeX

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

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 | Links | BibTeX

1997

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

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.

Abstract | Links | BibTeX

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

Adaptive Impedance Control Applied to a Pneumatic Legged Robot Conference

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

Abstract | Links | BibTeX

Tzafestas, Costas; Coiffet, Philippe

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 | Links | BibTeX

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

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

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

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

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

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.

BibTeX

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

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 | Links | BibTeX

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

Robust telemanipulator control using a partitioned neural network architecture Conference

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

Abstract | Links | BibTeX

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

Telemanipulator neurocontrol using multiple RBF networks Conference

IEEE International Symposium on Intelligent Control - Proceedings, 1997.

Abstract | BibTeX

Kheddar, A; Tzafestas, C; Coiffet, P

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.

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1996

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

Multi-robot teleoperation using direct human hand actions Journal Article

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

Abstract | Links | BibTeX

Tzafestas, C; Coiffet, P

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

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

Abstract | Links | BibTeX

S.G. Tzafestas M. Raibert, Tzafestas C S

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

1996.

BibTeX

1993

Raibert, M; Tzafestas, S; Tzafestas, C

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

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

BibTeX