Use of a Novel Multipart Controller for the Parametric Study of a Trotting Quadruped Robot (2009)
Nicholas Cherouvim, Evangelos Papadopoulos, Senior Member
Abstract — In this paper a novel multipart control is developed for a trotting quadruped robot. The control is designed to drive the quadruped to a steady-state motion with desired forward speed...
Parametric Analysis and Design Guidelines for a Quadruped Bounding Robot (2009)
Panagiotis Chatzakos, Evangelos Papadopoulos
Abstract.- This paper attempts to set the basis for a systematic approach in designing legged robots. A dynamically stable quadruped robot running in the sagittal plane with a bounding gait is used,...
A Haptic Tele-Manipulation Environment for a Vibration-Driven Micromechatronic Device (2009)
Kostas Vlachos, Panagiotis Vartholomeos, Evangelos Papadopoulos
Abstract—In this paper, a novel haptic tele-manipulation environment is presented. This includes an interface between a master haptic mechanism and a slave mechatronic mechanism for biomedical...
Robotic Airship Trajectory Tracking Control Using a Backstepping Methodology (2009)
Filoktimon Repoulias, Evangelos Papadopoulos, Senior Member
Abstract—This paper considers the design of a novel closedloop trajectory tracking controller for an underactuated robotic airship having 6 degrees of freedom (DOF) and 3 controls, on forward, yaw...
T30-040 Model-Based Position Tracking Control for a 6-dof Electrohydraulic Stewart Platform (2009)
Ioannis Davliakos, Evangelos Papadopoulos, Senior Member
Abstract — In this paper, a position tracking controller for a six-degree-of-freedom (dof) electrohydraulic Stewart platform mechanism is developed that includes a fast inner model-based force...
DEVELOPMENT OF A MODEL- BASED IMPEDANCE CONTROLLER FOR ELECTROHYDRAULIC SERVOS (2009)
Ioannis Davliakos, Panagiotis Chatzakos, Evangelos Papadopoulos
In this paper, a model-based impedance controller for electrohydraulic servosystems is developed. Rigid body and electrohydraulic models, including servovalve models are employed and described by a...
THE NTUA SIMULATORS FOR SPACE ROBOTS ON ORBIT (2009)
Georgios Rekleitis, Ioannis Tortopidis, Iosif Paraskevas, Dimitrios Psarros, Ioannis Kaliakatsos, Ioannis Roditis, ...
The importance of simulators as testbeds for proposed space robotic systems is unquestionable in our days. In this paper, the NTUA approach on both software and hardware space robots simulators, is...
Panagiotis Chatzakos, Evangelos Papadopoulos
journal homepage: www.elsevier.com/locate/mechmt Bio-inspired design of electrically-driven bounding quadrupeds
The Influence of DC Electric Drives on Sizing Quadruped Robots (2009)
Panagiotis Chatzakos, Evangelos Papadopoulos, Senior Member
Abstract — In legged systems design an important question applies to: "What can be inferred from the performance of a legged robot of a similarly configured system, but scaled to a smaller or...
A Virtual Graphical and Haptic Environment for a Medical Training Simulator (2009)
Kostas Vlachos, Evangelos Papadopoulos
An enhanced real-time virtual graphical and haptic environment used in a medical training simulator is presented in this paper. The medical simulator is a training simulator for urological minimally...
Modeling and Control of a Triangular Floating Platform Driven by Rotating Jets (2009)
Filoktimon Repoulias, Kostas Vlachos, Evangelos Papadopoulos, Senior Member
Abstract—In this paper, we consider the dynamic modeling and the practical implementation of an autonomous dynamic positioning scheme, i.e., the stabilization of linear and angular velocities as...
Speed and Height Control for a Special Class of Running Quadruped Robots (2009)
Nicholas Cherouvim, Evangelos Papadopoulos, Senior Member
Abstract — In this work a novel control method is presented for controlling the forward speed and apex height of a special class of running quadruped robot, with a dimensionless inertia of 1, and...
Analysis and Experiments of a (2009)
Kostas Vlachos, Evangelos Papadopoulos, Haptic Telemanipulation
Environment for a Microrobot
Panagiotis Vartholomeos, Evangelos Papadopoulos
Abstract—This paper studies the capabilities of a microrobotic platform, driven by vibrating motors, to generate and impart micromanipulation forces of desired type and magnitude. First, an...
THE EFFECT OF LEG SEGMENTAL PROPORTIONS ON THE ENERGETIC COST OF ROBOTIC LOCOMOTION (2009)
Panagiotis Chatzakos, Evangelos Papadopoulos
In this paper the influence of knee joint on the motion of the robot and the effect of leg segmental proportions and angle between leg segments on the performance of the robot is explored via...
THE NTUA SPACE ROBOT SIMULATOR: DESIGN & RESULTS (2009)
Evangelos Papadopoulos, Iosif S. Paraskevas, Thaleia Flessa, Kostas Nanos, Georgios Rekleitis, Ioannis Kontolatis
The importance of space robots in satellite servicing, in EVA assistance, in removing orbital debris and in space exploration is growing driven by space commercialization and exploration efforts. A...
robots in industrial environments (2009)
Evangelos Papadopoulos, Michael Misailidis
Calibration and planning techniques for mobile
Dynamically Feasible Trajectory and Open-Loop Control Design for Unmanned Airships (2009)
Filoktimon Repoulias, Evangelos Papadopoulos, Senior Member
Abstract—This paper describes a method for planning six DOF trajectories for an underactuated unmanned airship and for computing the open-loop controls. Beginning with a smooth inertial 3D...
HERON OF ALEXANDRIA (c. 10–85 AD) (2009)
Abstract. Heron of Alexandria was a mathematician, physicist and engineer who lived around 10–85 AD. He taught at Alexandria’s Musaeum and wrote many books on Mathematics, Geometry and...
Driving Principles and Hardware Integration of Microrobots Employing Vibration Micromotors (2008)
Panagiotis Vartholomeos, Kostas Mougiakos, Evangelos Papadopoulos
Abstract — This paper presents a new driving principle for microrobotic platforms whose actuation mechanism is based on two centripetal force actuators. The driving principle results to a...
A PATH PLANNING METHOD FOR UNDERACTUATED SPACE ROBOTS (2008)
Ioannis Tortopidis, Evangelos Papadopoulos
In free-floating mode, space manipulator systems have their thrusters off, and exhibit nonholonomic behavior due to angular momentum conservation. The system is underactuated and a challenging...
Ioannis Poulakakis, Evangelos Papadopoulos, Martin Buehler, Ioannis Poulakakis, Evangelos Papadopoulos, Martin Buehler
This paper examines the passive dynamics of quadrupedal bounding. First, an unexpected difference between local and global behavior of the forward speed versus touchdown angle in the selfstabilized...
Pitch Control for Running Quadrupeds Using Leg Positioning in Flight (2008)
Nicholas Cherouvim, Evangelos Papadopoulos, Senior Member Ieee
Abstract — Pitching is often present as an undesirable motion in quadruped running. In gaits such as pronking, pitching must be completely suppressed for the proper execution of the gait. In this...
Evangelos Papdopoulos, Ioannis Poulakakis, Iakovos Papdimitriou, Evangelos Papadopoulos, Ioannis Poulakakis, Iakovos Papadimitriou
A planning methodology for nonholonomic mobile platforms with manipulators in the presence of obstacles is developed that employs smooth and continuous functions such as polynomials. The method...
Joint Space Controller Design for Electrohydraulic Servos (2008)
Ioannis Davliakos, Athanassios Zafiris, Evangelos Papadopoulos, Senior Member
Abstract—This paper focuses on the joint space control of mechanical systems with electrohydraulic servos. Using mechanism inverse kinematics, desired Cartesian trajectories yield desired actuator...
Analysis and Design of a Novel Mini-platform Employing Vibration Micro-motors (2008)
Panagiotis Vartholomeos, Evangelos Papadopoulos
Abstract. – This paper presents the analysis and design of a novel mini-robotic platform that is able to perform translational and rotational sliding with sub-micrometer positioning accuracy and...
Large Force-task Planning for Mobile and Redundant Robots (2008)
Evangelos Papadopoulos, Yves Gonthier
This paper analyzes the application of large force/torques by robotic systems with limited force/torque actuators. It is shown that such system may be able to apply a force/torque in some...
On Model-Based Control of Hydraulic Actuators (2008)
Panagiotis Chatzakos, Evangelos Papadopoulos
ABSTRACT- Electrohydraulic servosystems exhibit highly nonlinear behavior to the effect that classical linear controllers, e.g., PD, usually achieve a limited performance. Load static and dynamic...
On the Design of an Autonomous Robot Fish (2008)
Dimitrios Tzeranis, Evangelos Papadopoulos, Senior Member, George Triantafyllou
Abstract—A fish-like propulsion system seems to be an interesting and efficient alternative to propellers in small underwater vehicles. This paper presents the early design stages of a small...
Panagiotis Vartholomeos (2008)
In the last decade, microrobotics has become an increasingly important field of research. Domains of application, such as microfabrication, biotechnology, microscopy and optoelectronics, demand...
Journal of Dynamic Systems, Measurement and Control (2008)
Evangelos Papadopoulos, Member Asme, Steven Dubowsky, Fellow Asme
Accepted for Publication to the ASME
Journal of Robotic Systems as a full paper (2008)
Evangelos Papadopoulos, Yves Gonthier
Submitted to the
Filoktimon Repoulias, Evangelos Papadopoulos
This paper tackles the combined problem of trajectory planning and tracking control of planar underactuated marine vehicles with different dynamic models. A reference feasible trajectory for the...
Point-to-Point Planning: Methodologies for Underactuated Space Robots (2008)
Ioannis Tortopidis, Evangelos Papadopoulos
Abstract- In free-floating mode, space manipulator systems have their actuators turned off, and exhibit nonholonomic behavior due to angular momentum conservation. The system is underactuated and a...
Abstract ON THE DEVELOPMENT OF A REAL-TIME SIMULATOR ENGINE FOR A HYDRAULIC FORESTRY MACHINE (2008)
Evangelos Papadopoulos, Yves Gonthier
This work focuses on the development of a real-time training simulator engine for a forestry machine. The rigid body dynamics of the machine’s manipulator is integrated with electrohydraulic...
Evangelos Papadopoulos, Georgios Patsianis
Abstract- This paper focuses on the design of a 2-DOF exoskeletal mechanism for the lateral and frontal abduction of the human upper limb. Major consideration was placed on the location of the center...
Panagiotis Vartholomeos, Evangelos Papadopoulos
Abstract – This paper presents the motion analysis, design and position control of a novel, low cost, sliding micro-robot, which is actuated by centripetal forces generated by robot mounted...
Dynamics & Control of Multi-arm Space Robots During Chase & Capture Operations (2008)
Evangelos Papadopoulos, S. Ali, A. Moosavian
This paper studies the motion control of a multi-arm freeflying space robot chasing a passive object in close proximity. Free-flyer kinematics are developed using a minimum set of body-fixed...
Control of the Multi Agent Micro-Robotic Platform MiCRoN (2008)
Panagiotis Vartholomeos, Savvas Loizou, Michael Thiel, Kostas Kyriakopoulos, Evangelos Papadopoulos
Abstract—This paper presents the theoretical framework for the centralized control architecture of the multi agent microrobotic platform MiCRoN. The entire control system architecture integrates...
FORCE CONTROL LAW DESIGN FOR A FIVE DEGREE-OF-FREEDOM HAPTIC MECHANISM (2008)
Kostas Vlachos, Evangelos Papadopoulos
In this paper the effect of a force control law in the transparency of a five degree-of-freedom (dof) haptic mechanism is investigated. The mechanism, which is a part of a training medical simulator...
Using Force Control for Fidelity in Low-Force Medical Haptic Simulators (2008)
Kostas Vlachos, Evangelos Papadopoulos, Senior Member
Abstract—In this paper the effect of force control in the fidelity of a low-force five degree-of-freedom (dof) haptic mechanism is investigated. Strict conditions that guarantee stability are...
Dynamic Analysis and Speed Control of a Novel Micro-platform Driven by Vibrating Motors (2008)
Panagiotis Vartholomeos, Evangelos Papadopoulos
This paper presents the dynamic analysis and speed control of a novel micro-robotic platform that is able to move with sub-micrometer positioning accuracy at velocities up to 1.5 mm/s. The platform...
Nicholas Cherouvim, Evangelos Papadopoulos
Energy saving passive-dynamic gait for a one-legged
Special Forum ‘94 Issue of the CSME Transactions (2008)
Evangelos Papadopoulos, Ahmed Abu-abed
Submitted as a Contribution to the
Trajectory Planning and Tracking Control of (2008)
Underactuated Auvs, Filoktimon Repoulias, Evangelos Papadopoulos
Abstract − This paper addresses the combined problem of trajectory planning and tracking control for underactuated AUVs moving on the horizontal plane. A reference feasible trajectory for the...
Evangelos Papdopoulos, Ioannis Poulakakis, Iakovos Papdimitriou, Evangelos Papadopoulos, Ioannis Poulakakis, Iakovos Papadimitriou
A planning methodology for nonholonomic mobile platforms with manipulators in the presence of obstacles is developed that employs smooth and continuous functions such as polynomials. The method...
Transparency Maximization Methodology for Haptic Devices (2008)
Kostas Vlachos, Evangelos Papadopoulos, Senior Member
Abstract—In this paper, a design methodology is presented aimed at maximizing haptic device transparency, as seen from the user side. The methodology developed focuses on endpoint side fidelity,...
Invariant Error Dynamics Controller for a 6-dof Electrohydraulic Stewart Platform (2008)
Ioannis Davliakos, Evangelos Papadopoulos
Abstract. The study of the invariant error dynamics controller for a six-degrees-of-freedom (dof) electrohydraulic Stewart platform is presented. Rigid body and electrohydraulic models, including...
Evangelos Papadopoulos, Ioannis Davliakos
This paper focuses on optimal hydraulic component selection for electrohydraulic systems used in high performance servo tasks. Dynamic models of low complexity are proposed that describe the salient...
Minimum Fuel Techniques for a Space Robot Simulator with a Reaction Wheel and PWM Thrusters (2008)
Evangelos Papadopoulos, Ioannis K. Kaliakatsos, Dimitrios Psarros
Abstract — Space simulators offer engineers great advantages on studying space-related dynamic behavior without actually having to travel into space. They can test various control and design...
Evangelos Papadopoulos, Daniel A. Rey
Mobile manipulators operating in field environments will be required to apply large forces, or manipulate large loads, and to perform such tasks on uneven terrain which may cause the system to...
Speed Control of Quadrupedal Bounding Using a Reaction Wheel (2008)
Nicholas Cherouvim, Evangelos Papadopoulos, Senior Member
Abstract — To date, quadruped speed control has either been achieved with two actuators per leg, or with single actuators and time consuming trial and error experimentation for controller tuning....
Filoktimon Repoulias, Evangelos Papadopoulos
This paper addresses the combined problem of trajectory planning and tracking control for underactuated autonomous underwater vehicles (AUVs) on the horizontal plane. Given a smooth, inertial, 2D...
S. Ali, A. Moosavian, Evangelos Papadopoulos
Abstract. In this paper, two basic approaches for kinematics modelling of multiple manipulator Space Free-Flying Robots (SFFRs) are developed. In the barycentric vector approach, the center of mass...
UNDER-ACTUATED SPACE ROBOTS: PHYSICAL and ALGORITHMIC CONSTRAINTS in SMOOTH MOTION PLANNING (2008)
Ioannis Tortopidis, Evangelos Papadopoulos
Space manipulator systems having spacecraft actuators turned off, operate in free-floating mode, and exhibit nonholonomic behaviour due to angular momentum conservation. The system is underactuated...
S. Ali, A. Moosavian, Evangelos Papadopoulos
Free-flying space manipulator systems, in which robotic manipulators are mounted on a free-flying spacecraft, are envisioned for assembling, maintenance, repair, and contingency operations in space....
ON THE DYNAMIC MODELING OF AN ARTICULATED ELECTROHYDRAULIC FORESTRY MACHINE (2008)
Evangelos Papadopoulos, Soumen Sarkar
This paper focuses on the generation of dynamic models for an electrohydraulic forestry machine. Such models can be used for training simulators, for sizing components, and for system design. The...
On Dynamic Analysis and Control of a Novel Orbital Debris Disposer (2008)
Georgios Rekleitis, Evangelos Papadopoulos
Abstract. The removal of orbital debris is a special on-orbit service that gains interest. In this paper, we present the novel idea of an orbital debris disposer, based on a number of cooperating...
Structural and functional studies of biomolecules with NMR and CD spectroscopy. (2008)
Experimentally derived biomolecular structures were determined by Nuclear Magnetic Resonance (NMR). The properties of selected peptides and proteins in solution and in membrane mimicking micelles...
Structural and functional studies of biomolecules with NMR and CD spectroscopy. (2008)
Experimentally derived biomolecular structures were determined by Nuclear Magnetic Resonance (NMR). The properties of selected peptides and proteins in solution and in membrane mimicking micelles...
Experimental Harvester Machine, Evangelos Papadopoulos, Real Frenette, Bin Mu, Yves Gonthier
This paper focuses on the modeling, parameter estimation, and model validation in open and closed-loop of an experimental forestry machine manipulator. Symbolic Newton-Euler and linear graph...
Multiple Impedance Control, S. Ali, A. Moosavian, Evangelos Papadopoulos
The Multiple Impedance Control (MIC) is a new algorithm which enforces a designated impedance on both a manipulated object, and all cooperating manipulators. In this paper, the MIC is applied to a...
A Novel Approach to Reduce Dynamic Interactions in Space Robots (2007)
Eric Martin Space, Eric Martin, Evangelos Papadopoulos
Space manipulators mounted on an on-o# thrustercontrolledbase are envisioned to assist in the assembly and maintenanceofspace structures. When handling large payloads, manipulator joint and link...
Evangelos Papadopoulos, Alkiviadis Tsamis, Kostas Vlachos
Submitted as a full paper to Artificial Life and Robotics
C. L. Bottasso, P. Masarati, L. Trainelli (eds, An Electrohydraulic, Ioannis Davliakos, ...
Abstract. A simulational model of 6 dof Stewart platform type parallel manipulator is presented. The manipulator is driven by electrohydraulic actuators. A novel invariant error dynamics controller...
Pitch Control for Running Quadrupeds Using Leg Positioning (2007)
Nicholas Cherouvim, Evangelos Papadopoulos, Senior Member Ieee
Abstract — Pitching is often present as an undesirable motion in quadruped running. In gaits such as pronking, pitching must be completely suppressed for the proper execution of the gait. In this...
Ioannis Davliakos, Evangelos Papadopoulos
www.elsevier.com/locate/mechmt Model-based control of a 6-dof electrohydraulic Stewart–Gough platform
On the Stability of the Passive Dynamics of Quadrupedal Running with a Bounding Gait 1 (2006)
Ioannis Poulakakis, Evangelos Papadopoulos, Martin Buehler
all correspondence related to this paper to the first author. This paper examines the passive dynamics of quadrupedal bounding. First, an unexpected difference between local and global behavior of...
On spatial trajectory planning & open-loop control for underactuated AUVs (2006)
Filoktimon Repoulias, Evangelos Papadopoulos
Abstract: This paper considers the problem of spatial planning and open-loop control for underactuated AUVs. Given a smooth inertial 3D trajectory to be followed by some vehicle point, the developed...
On robot gymnastics planning with non-zero angular momentum (2006)
Evangelos Papadopoulos, Senior Member Ieee, Ioannis Fragkos, Ioannis Tortopidis
Abstract – Conservation of angular momentum that introduces nonholonomic behavior, underactuation and time dependence, makes the trajectory planning of gymnastic robots difficult. By defining...
DOI 10.1007/s10015-007-0486-0 ORIGINAL ARTICLE (2006)
Evangelos Papadopoulos, Alkiviadis Tsamis, Kostas Vlachos
Development of a real-time visual and force environment for a haptic medical training simulator
Polynomial-based Obstacle Avoidance Techniques for (2005)
Evangelos Papadopoulos, Iakovos Papadimitriou, Ioannis Poulakakis
1 A planning methodology for nonholonomic mobile manipulators in the presence of obstacles is developed. The method employs smooth and continuous functions, such as polynomials, and it is very fast,...
Endpoint-Side Optimization of a Five Degree-of-Freedom Haptic Mechanism (2005)
Kostas Vlachos, Evangelos Papadopoulos, Senior Member
Abstract—One of the main issues in the design of haptic devices is to provide maximum transparency. In this paper a design methodology, which aims at the maximization of the transparency for a...
Smooth Planning for Free-floating Space Robots Using Polynomials (2005)
Evangelos Papadopoulos, Ioannis Tortopidis, Kostas Nanos
Abstract�Free-floating space manipulator systems, have spacecraft actuators turned off and exhibit nonholonomic behavior due to angular momentum conservation. A path planning methodology for planar...
Development of a Model-Based Nested Controller for Electrohydraulic Servos (2005)
Ioannis Davliakos, Evangelos Papadopoulos, Senior Member
Abstract—In this paper, a tracking controller for electrohydraulic servosystems is developed that includes a fast model-based force tracking loop. Full rigid body and electrohydraulic models,...
Thesis (doctoral)--Christian-Albrechts-Universität zu Kiel, 2004.
A RealTime Graphic Environment for a Urological Operation Training Simulator (2004)
Evangelos Papadopoulos, Alkiviadis Tsamis, Kostas Vlachos
of a training simulator for urological operations, is presented. The graphic environment simulates endoscope insertion in a small diameter deformable tube and is used with a low-force 5-dof...
Mass/Inertia and Joint Friction Minimization for a Low-force Fivedof Haptic Device (2004)
Kostas Vlachos, Evangelos Papadopoulos, Dionissios N. Mitropoulos
Abstract — This paper presents a design methodology, which aims at the minimization of the mass, inertia and joint friction for a low – force five – dof haptic device. The haptic device is...
Kiel, Univ., Diss., 2004.
S. Ali, A. Moosavian, Evangelos Papadopoulos
dynamics of space free- � yers with multiple manipulators via SPACEMAPLE
On the Stable Passive Dynamics of Quadrupedal Running (2003)
Ioannis Poulakakis, Evangelos Papadopoulos, Martin Buehler
Abstract- In this paper, we study the passive dynamics of quadrupedal bounding, based on a simplified model of our Scout II quadruped robot. Surprisingly, numerical return map studies reveal that...
Design and implementation of a haptic device for training in urological operations (2003)
Kostas Vlachos, Evangelos Papadopoulos, Senior Member, Dionissios N. Mitropoulos
Abstract—Virtual reality is becoming very important for training medical surgeons in various operations. Interfacing users with a virtual training environment requires the existence of a properly...
Evangelos Papadopoulos, Senior Member, Bin Mu, Réal Frenette
Abstract—This paper focuses on modeling, parameter estimation, and control for a heavy-duty electrohydraulic manipulator of a harvester machine. The linear-graph method is implemented in deriving...
On The Design Of A Low-Force 5-Dof . . . (2002)
Evangelos Papadopoulos, Kostas Vlachos
Virtual reality is becoming very important for training medical surgeons in various operations. Interfacing users with a virtual training environment, requires the existence of a properly designed...
Design Ofa Dof, Evangelos Papadopoulos, Kostas Vlachos, Dionyssios Mitropoulos
INTRODUCTION ReseaIh on the use ofvirtua reaua in medicineha raici increane due to developments insoftwax af haftwax [1].TrahR[] ina simulaWh environmentha significan anifican anifi traficant trafica...
Modeling Design And, Evangelos Papadopoulos, Iakovos Papadimitriou
This paper presents a simplified threedimensional dynamic model of a horizontal-axis portable washing machine. This model is used to predict the verge of walking instability during the spinning...
On Motion Planning of Nonholonomic Mobile Robots (2000)
Evangelos Papadopoulos, John Poulakakis
Mobile robots that consist of a mobile platform with one or many manipulators, are of great interest in a number of applications. This paper presents a methodology for generating paths and...
Th Ieee Mediterranean, Evangelos Papadopoulos, John Poulakakis
Mobile manipulator systems, comprised of a mobile platform with one or more manipulators, are of great interest in a number of applications. This paper presents a methodology for computing actuator...
Multiple Impedance Control for Object Manipulation (1998)
Ali Moosavian And, S. Ali, A. Moosavian, Evangelos Papadopoulos
the presence of an unknown environment, have been proposed [8]. The Object Impedance Control (OIC), an extension of impedance control, has been developed for multiple robotic arms manipulating a...
A Model-Based Impedance Control Scheme for High-Performance Hydraulic Joints (1998)
Glen Bilodeau And, Glen Bilodeau, Evangelos Papadopoulos
Impedance control of a hydraulic servoactuator joint system is discussed in this paper. Impedance control imparts a desired behavior to a system, rather than it controls position or force...
Control of Space Free-Flyers Using the Modified Transpose Jacobian Algorithm (1997)
S. Ali, Evangelos Papadopoulos
Transpose Jacobian control is one of the simplest algorithms used in manipulator control. However, since it is not dynamics-based, poor performance may occur in applications where high speed tracking...
Experiments on a High Performance Hydraulic Manipulator Joint: Modelling for Control (1997)
Glen Bilodeau And, Glen Bilodeau, Evangelos Papadopoulos
Modelling and experimental identification of a hydraulic servoactuator system is presented. The development of the model i s important for further understanding the system and for developing a robust...
Coordinated Motion Control Of Multiple Manipulator Space Free-Flyers (1997)
S. Ali, Evangelos Papadopoulos
this paper, coordination between a spacecraft and its several manipulators is investigated, during a capture maneuver of a moving object in space. Using a general Lagrangian formulation, the dynamics...
Evangelos Papadopoulos Soumen, Evangelos Papadopoulos, Soumen Sarkar
This paper focuses on the generation of dynamic models for an articulated forestry machine. Such models can be used for training simulators, for sizing components, and for control. The most complex...
Electrohydraulic Articulated Forestry, Evangelos Papadopoulos, Bin Mu, Real Frenette
This paper focuses on modeling and parameter estimation for the electrohydraulic actuation system of an articulated forestry machine. The linear graph method is implemented in deriving mathematical...
Glen Bilodeau, Evangelos Papadopoulos
In this paper, modelling and identification of a hydraulic servoactuator system is presented. The importance of such a model is evident in further understanding the system and in order to develop a...
Modelling, Identification and Experimental Validation (1997)
Of Hydraulic Manipulator, Glen Bilodeau, Evangelos Papadopoulos
In this paper, modelling and identification of a hydraulic servoactuator system is presented. The development of the model is important for further understanding the system and for developing a...
On The Dynamic Modeling Of An Articulated Electrohydraulic Forestry Machine (1996)
Evangelos Papadopoulos, Soumen Sarkar
This paper focuses on the generation of dynamic models for an electrohydraulic forestry machine. Such models can be used for training simulators, for sizing components, and for system design. The...
ASME Journal of Mechanical Design (1996)
Evangelos Papadopoulos, Ahmed Abu-abed
In a number of industrial, space, or mobile applications, reaction forces and moments transmitted by a manipulator to its base are undesirable. In this paper, we analyze the problem of force and...
ATREF: Application des Technologies Robotiques aux Équipements Forestiers (1995)
Paul Freedman, Evangelos Papadopoulos, Denis Poussart, Clement Gosselin, Jean Courteau
Canada is one of the world#s leading forestry nations and luckily# there are still some Cana# dian world class forestry equipment manufac# turers. This is all the more important since new technology...
ATREF: Application des Technologies Robotiques aux ' Equipements Forestiers (1995)
Paul Freedman, Evangelos Papadopoulos, Denis Poussart, Clement Gosselin, Jean Courteau
Canada is one of the world's leading forestry nations and luckily, there are still some Canadian world class forestry equipment manufacturers. This is all the more important since new technology...
Dynamics & Control of Space Free-Flyers with Multiple Arms (1995)
Evangelos Papadopoulos, S. Ali, A. Moosavian
This paper studies the motion control of a multiple manipulator free-flying space robot chasing a passive object in near proximity. Free-flyer kinematics are developed using a minimum set of...
On manipulator posture for planning for large force tasks (1995)
Evangelos Papadopoulos, Yves Gonthier
In this paper, we study the problem of large force/torque application using robotic systems with limited force/torque actuators. For such systems, the available workspace may be smaller than its...
Design and Motion Planning for a Zero-Reaction Manipulator (1994)
Evangelos Papadopoulos, Ahmed Abu-abed
In a number of industrial, space, or mobile systems applications, reaction forces and moments transmitted by a manipulator to its base are undesirable. Based on force and moment transmission...
Dynamic Singularities in Free-Floating Space Manipulators (1993)
Evangelos Papadopoulos, Steven Dubowsky
Dynamic Singularities are shown for free-floating space manipulator systems where the spacecraft moves in response to manipulator motions without compensation from its attitude control system. At a...