And now, what's going to happen to us without barbarians?
They were, those people, a kind of solution.

[C. Cavafy, "Waiting for the Barbarians"]


Dimitrios Kanoulas, Ph.D.
[Δημήτρης Κανούλας]

  • e-mail: echo "name@iit.it" | sed -re 's!name!dimitrios.kanoulas!'
  • news: see my twitter account
  • I support: Free and Open Source software and Hardware and Open Source Robotics.


  • Workshop Organizer

    I have organized and run the following conference workshops:
    1. Robust Perception, Planning, and Control for Legged Robot Locomotion in Challenging Domains,
      with Ioannis Havoutis [Univ. of Oxford, UK], Maurice Fallon [Univ. of Oxford, UK], Dr. Andrea Del Prete [LAAS-CNRS, France], and Eiichi Yoshida [AIST, Japan].
      In the IEEE International Conference on Robotics and Automation (ICRA), ICRA 2017.
      [.pdf]
    2. Legged Robot Falling: Fall Detection, Damage Prevention, and Recovery Actions,
      with Seungkook Yun [SRI, USA] and Sung-Hee Lee [KAIST, Korea]
      In the IEEE International Conference on Robotics and Automation (ICRA), ICRA 2016.
    3. Proprioceptive and Exteroceptive Data Fusion for State Estimation and Whole-Body Control of Humanoid Robots,
      with Federico Moro [IIT, Italy], Jaeheung Park [SNU, South Korea], and Luis Sentis [UTexas, USA],
      In the IEEE-RAS International Conference on Humanoid Robots, Humanoids 2015.
    4. Perception and Planning for Legged Robot Locomotion in Challenging Domains,
      with Ioannis Havoutis [IDIAP, Switzerland], Maurice Fallon [Univ. of Edinburgh], and Eiichi Yoshida [AIST, Japan].
      In the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015.

    Publications

    [DBLP, Google Scholar, ResearchGate, Academia, Linkedin]

    Journals:
    1. "Visual Grasp Affordance Localization in Point Clouds using Curved Contact Patches",
      with Jinoh Lee, Darwin G. Caldwell, and Nikos G. Tsagarakis.
      In the International Journal of Humanoid Robotics, IJHR 2017.
      [.pdf]

    2. "WALK-MAN: A High Performance Humanoid Platform for Realistic Environments",
      with Nikos G. Tsagarakis, Darwin G. Caldwell, F. Negrello, W. Choi, L. Baccelliere, VG. Loc, J. Noorden, L. Muratore, A. Margan, A. Cardellino, L. Natale, E. Mingo Hoffman, H. Dallali, N. Kashiri, J. Malzahn, J. Lee, P. Kryczka, M. Garabini, M. Catalano, M. Ferrati, V. Varricchio, L. Pallottino, C. Pavan, A. Bicchi, A. Settimi, A. Rocchi, A. Ajoudani.
      In the Journal of Field Robotics, JFR 2016.
      [.pdf]

    3. "The Walk-Man Robot Software Architecture",
      with Mirko Ferrati, Alessandro Settimi, Luca Muratore, Alessio Rocchi, Enrico Mingo Hoffman, Alberto Cardellino, Corrado Pavan, Nikos G. Tsagarakis, Lorenzo Natale, and Lucia Pallottino.
      In the Journal of Frontiers in Robotics and AI, Frontiers 2016.
      [.pdf]

    Conferences:
    1. "Vision-Based Foothold Contact Reasoning using Curved Surface Patches",
      with Chengxu Zhou, Anh Nguyen, Georgios Kanoulas, Darwin G. Caldwell, and Nikos G. Tsagarakis.
      In the 17th IEEE/RAS International Conference on Humanoid Robots, Humanoids 2017.
      [.pdf] [video] [Acceptance Rate: 54%]

    2. "Object-Based Affordances Detection with Convolutional Neural Networks and Dense Conditional Random Fields",
      with Anh Nguyen, Darwin G. Caldwell, and Nikos G. Tsagarakis.
      In the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017.
      [.pdf] [video][database] [Acceptance Rate: 45%]

    3. "Uncertainty Analysis for Curved Surface Contact Patches",
      with Nikos G. Tsagarakis and Marsette Vona.
      In the 16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016.
      [.pdf] [Acceptance Rate: 65%]

    4. "An Affordance-Based Pilot Interface for High-Level Control of Humanoid Robots in Supervised Autonomy",
      with Peter Kaiser, Markus Grotz, Luca Muratore, Alessio Rocchi, Enrico Mingo Hoffman, Nikos Tsagarakis, and Tamim Asfour.
      In the 16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016.
      [.pdf] [Acceptance Rate: 65%]

    5. "Terrain Classification and Locomotion Parameters Adaptation for Humanoid Robots Using Force/Torque Sensing",
      with Krzysztof Tadeusz Walas and Przemyslaw Kryczka.
      In the 16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016.
      [.pdf] [Acceptance Rate: 65%]

    6. "An Active Compliant Impact Protection System for Humanoids: Application to WALK-MAN Hands",
      with Jinoh Lee, Wooseok Choi, Rajesh Subburaman, Darwin G. Caldwell, and Nikos G. Tsagarakis.
      In the 16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016.
      [.pdf] [Acceptance Rate: 65%]

    7. "Preparatory Object Reorientation for Task-Oriented Grasping",
      with Anh Nguyen, Darwin G. Caldwell, and Nikos G. Tsagarakis.
      In the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016.
      [.pdf] [video] [Acceptance Rate: 48%]

    8. "Detecting Object Affordances with Convolutional Neural Networks",
      with Anh Nguyen, Darwin G. Caldwell, and Nikos G. Tsagarakis.
      In the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016.
      [.pdf] [video] [Acceptance Rate: 48%]

    9. "Experimental Evaluation of a Perceptual Pipeline for Hierarchical Affordance Extraction",
      with Peter Kaiser, Markus Grotz, Eren E. Aksoy, Nikos G. Tsagarakis, and Tamim Asfour.
      In the International Symposium on Experimental Robotics, ISER 2016.
      [.pdf] [Acceptance Rate: %]

    10. "Optically-Regulated Impedance-Based Balancing for Humanoid Robots",
      with Emmanouil Spyrakos-Papastavridis, Nikos G. Tsagarakis, and Darwin G. Caldwell.
      In the 15th IEEE RAS Humanoids Conference on Humanoids Robots, Humanoids 2015.
      [.pdf] [video] [Acceptance Rate: %]

    11. "A Three-Toe Biped Foot with Hall-Effect Sensing",
      with Sergio Castro Gomez, Marsette Vona.
      In the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015.
      [.pdf] [Acceptance Rate: 46%]

    12. "Bio-Inspired Rough Terrain Contact Patch Perception",
      with Marsette Vona.
      In the 2014 IEEE International Conference on Robotics and Automation, ICRA 2014.
      [.pdf] [Acceptance Rate: 48%]

    13. "Sparse Surface Modeling with Curved Patches",
      with Marsette Vona.
      In the 2013 IEEE International Conference on Robotics and Automation, ICRA 2013.
      [.pdf] [Acceptance Rate: 39%]

    14. "Cache me if you can: Capacitated Selfish Replication in Networks",
      with Ragavendran Gopalakrishnan, Naga Naresh Karuturi, C. Pandu Rangan, Rajmohan Rajaraman, and Ravi Sundaram.
      In the Latin American Symposium on Theoretical Informatics, LATIN 2012.
      [.pdf] [arXiv] [slides] [Acceptance Rate: 36%]

    15. "Curved Surface Contact Patches with Quantified Uncertainty",
      with Marsette Vona.
      In the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011.
      [.pdf] [videos] [source code] [Acceptance Rate: 32%]

    16. "Performance evaluation of a descent algorithm for bi-matrix games",
      with Haralampos Tsaknakis, and Paul Spirakis.
      In the 4th Workshop on Internet & Network Economics, WINE 2008.
      [Paper .pdf] [TR .pdf] [arXiv] [Acceptance Rate: 33%]


    Workshops/Posters:
    1. "Vision-Based Footstep Localization for Rough Terrain Locomotion",
      with Alexia Toumpa, Chengxu Zhou, Darwin G. Caldwell, and Nikos G. Tsagarakis.
      In the 2017 IEEE International Conference on Robotics and Automation Workshop: Robust Perception, Planning, and Control for Legged Robot Locomotion in Challenging Domains, ICRA 2017.
      [.pdf]

    2. "Towards Scene Understanding for Autonomous Manipulation",
      with Anh Nguyen, Darwin G. Caldwell, and Nikos G. Tsagarakis.
      In the 2016 IEEE International Conference on Robotics and Automation Workshop: Nature versus Nurture in Robotics, ICRA 2016.
      [.pdf]

    3. "Development of Modular and Active Impact Protection System for Humanoids Falling",
      with Jinoh Lee, Wooseok Choi, Rajesh Subburaman, Darwin G. Caldwell, and Nikos G. Tsagarakis.
      In the 2016 IEEE International Conference on Robotics and Automation Workshop: Legged Robot Falling: Fall Detection, Damage Prevention, and Recovery Actions, ICRA 2016.
      [.pdf]

    4. "Rough Terrain Perception for Bipedal Robots using Curved Contact Patches",
      In the IEEE/RSJ International Conference on Intelligent Robots and Systems Workshop: Perception and Planning for Legged Robot Locomotion in Challenging Domains, IROS 2015.
      [.pdf]

    5. "The Surface Patch Library (SPL)",
      with Marsette Vona.
      In the 2014 IEEE International Conference on Robotics and Automation Workshop: MATLAB/Simulink for Robotics Education and Research, ICRA 2014.
      [.pdf]

    6. "Intensity and Depth Data Integration for Vehicle Detection",
      with Alexandros Makris, Mathias Perrollaz, Christian Laugier.
      For the NSF/REUSSI/INRIA meeting, CSU, June 2014.
      [.pdf]

    7. "Surface Patches for Rough Terrain Perception",
      In the Northeast Robotics Colloquium, Second Edition (poster), NERC 2013.
      [.pdf]


    Unrefreed
    1. "CTY Robotics and Applied Computing",
      with Marsette Vona.
      Manual Documentation, December 2012
      [.pdf]


    Theses:
    1. Curved Surface Patches for Rough Terrain Perception
      Ph.D. Thesis, College of Computer and Information Science, Northeastern University.
      Advisor: Marsette Vona
      [.pdf-shrink (5MB)] [talk]

    2. "Approximate Nash Equilibrium: Conducting Theoretical and Experimental Research on Optimal
      Algorithms that can Result in Better Approximate Nash Equilibria in Bi-Matrices Games",
      Bachelor`s Thesis, University of Patras, Computer Engineering and Informatics Dept.
      co-advisors: Paul Spirakis and Haralampos Tsaknakis, July 2008
      [.pdf] (in Greek)


    Misc Documents

    A nice set of misc documents of general interest can befound below:
    1. "How to Present Your Research Ideas", Javed Aslam.
      [.pdf]