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Emmanouil Spyrakos-Papastavridis
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Journal Articles

Minimum Friction Coefficient-Based Precision Manipulation Workspace Analysis of the Three-Fingered Metamorphic Hand

Yen-Hua Lin, Tun Wang, Emmanouil Spyrakos-Papastavridis, Zhongtao Fu, Shuangjia Xu, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051018.
Paper No: JMR-21-1754
https://doi.org/10.1115/1.4062238
Published Online: May 2, 2023
View Article titled, Minimum Friction Coefficient-Based Precision Manipulation Workspace Analysis of the Three-Fingered Metamorphic Hand
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Topics: Friction, Design, Robotics, End effectors
Journal Articles

Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)

Emmanouil Spyrakos-Papastavridis, Jian S. Dai, Peter R. N. Childs, Nikos G. Tsagarakis
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Closures
J. Mechanisms Robotics. October 2022, 14(5): 056001.
Paper No: JMR-21-1433
https://doi.org/10.1115/1.4054926
Published Online: August 9, 2022
View Article titled, Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)
Open the PDF for Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009) in another window
Topics: Humanoid robots, Stability, Theorems (Mathematics), Control equipment, Robots, Feedback
Journal Articles

Origaker: A Novel Multi-Mimicry Quadruped Robot Based on a Metamorphic Mechanism

Zhao Tang, Kun Wang, Emmanouil Spyrakos-Papastavridis, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 060907.
Paper No: JMR-21-1640
https://doi.org/10.1115/1.4054408
Published Online: May 26, 2022
View Article titled, Origaker: A Novel Multi-Mimicry Quadruped Robot Based on a Metamorphic Mechanism
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Topics: Robots, Biomimetics, Design, Spin (Aerodynamics), Spinning (Textile)
Journal Articles

Design and Analysis of a Novel Reconfigurable Ankle Rehabilitation Exoskeleton Capable of Matching the Mobile Biological Joint Center in Real-Time

Tun Wang, Emmanouil Spyrakos-Papastavridis, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011011.
Paper No: JMR-21-1668
https://doi.org/10.1115/1.4054313
Published Online: May 2, 2022
View Article titled, Design and Analysis of a Novel Reconfigurable Ankle Rehabilitation Exoskeleton Capable of Matching the Mobile Biological Joint Center in Real-Time
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Topics: Design, Exoskeleton devices, Kinematics, Rotation, Robots
Journal Articles

Novel Design of a Rotation Center Auto-Matched Ankle Rehabilitation Exoskeleton With Decoupled Control Capacity

Tun Wang, Enea Olivoni, Emmanouil Spyrakos-Papastavridis, Rory J. O'Connor, Jian S. Dai
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. May 2022, 144(5): 053301.
Paper No: MD-21-1205
https://doi.org/10.1115/1.4052842
Published Online: December 6, 2021
View Article titled, Novel Design of a Rotation Center Auto-Matched Ankle Rehabilitation Exoskeleton With Decoupled Control Capacity
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Topics: Exoskeleton devices, Rotation, Design, Actuators, Kinematics
Journal Articles

Flexible-Joint Humanoid Balancing Augmentation via Full-State Feedback Variable Impedance Control

Emmanouil Spyrakos-Papastavridis, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2021, 13(2): 021014.
Paper No: JMR-20-1232
https://doi.org/10.1115/1.4049648
Published Online: February 23, 2021
View Article titled, Flexible-Joint Humanoid Balancing Augmentation via Full-State Feedback Variable Impedance Control
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Topics: Control equipment, Pole placement, Robots, Stability, Motors
Journal Articles

Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot

Emmanouil Spyrakos-Papastavridis, Jian S. Dai, Peter R. N. Childs, Nikos G. Tsagarakis
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2018, 10(3): 031009.
Paper No: JMR-17-1137
https://doi.org/10.1115/1.4039394
Published Online: April 5, 2018
View Article titled, Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot
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Topics: Control equipment, Stability, Feedback, Gravity (Force), Robots, Trajectories (Physics)
Proceedings Papers

Global Stability Study of a Compliant Double-Inverted Pendulum Based on Hamiltonian Modeling

Emmanouil Spyrakos-Papastavridis, Gustavo Medrano-Cerda, Jian S. Dai, Darwin G. Caldwell
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 1481-1488, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-71066
https://doi.org/10.1115/DETC2012-71066
View Paper titled, Global Stability Study of a Compliant Double-Inverted Pendulum Based on Hamiltonian Modeling
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Topics: Modeling, Pendulums, Stability, Clearances (Engineering), Robotics, Robots, Simulation results