Dr Minas Liarokapis
DipEng University of Patras, MSc National Kapodistrian University of Athens, PhD National Technical University of Athens
[02/2020 - Today] Senior Lecturer - Department of Mechanical Engineering, Faculty of Engineering, The University of Auckland
[01/2017 - 01/2020] Lecturer - Department of Mechanical Engineering, Faculty of Engineering, The University of Auckland
[08/2014-12/2016] Postdoctoral Associate - Department of Mechanical Engineering and Materials Science,
School of Engineering and Applied Science, Yale University
[07/2009-07/2014] Research Associate - Control Systems Lab, School of Mechanical Engineering, National Technical University of Athens,
2014 - PhD in Mechanical Engineering - School of Mechanical Engineering, National Technical University of Athens
2010 - MSc in Information Tech. in Medicine and Biology - Department of Informatics and Telecommunications, National Kapodistrian University of Athens
2008 - Diploma in Computer Engineering, Computer Engineering and Informatics Department, University of Patras
Dr. Liarokapis is a Senior Lecturer in the Department of Mechanical Engineering and director of the New Dexterity research group. Previously, he was a Postdoctoral Associate in the GRAB Lab at Yale University working with Prof. Aaron Dollar.
He is interested in equipping robots with dexterous manipulation capabilities and enabling humans to regain their lost dexterity or augment their performance, modeling, designing and controlling new robotics and bionics hardware. He is the founder of the OpenBionics initiative and a co-founder of OpenRobotHardware and HandCorpus.
During his postdoctoral training, his research focused on hybrid schemes that combine analytical models, constrained optimization methods and machine learning techniques for simplifying robust grasping, dexterous, in-hand manipulation and haptic object identification using adaptive robot hands. During his PhD studies, he worked under the supervision of Prof. Kostas Kyriakopoulos in the Control Systems Lab and his research focused on EMG-based decoding of human motion and intention for the control of robotic and prosthetic devices in structured and dynamic environments.
Research | Current
A New Family of Adaptive Hands
Developing a new family of adaptive, intrinsically-compliant, under-actuated robot hands.
Proposing methodologies for executing robust grasping in presence of object pose uncertainties or other environmental uncertainties and disturbances (including aerial grasping).
Dexterous, In-Hand Manipulation
Developing hybrid schemes that combine numerical and learning methods for performing dexterous, in-hand manipulation with simple, adaptive robot hands.
Single-Grasp, Model-Free Object Identification
Developing haptic object identification methodologies of minimal complexity (e.g., single-grasp, model-free).
Modelling the Post-Contact Behaviour of Adaptive Hands
Modelling the post-contact behaviour of adaptive robot hands.
Soft, Adaptive Exogloves
Analysis, modelling and development of soft, adaptive exogloves for rehabilitation and human augmentation.
Learning Schemes for EMG Based Interfaces
Formulation of advanced learning schemes for the EMG based control of robotic and prosthetic devices.
Teleoperation and Telemanipulation
Formulation of advanced teleoperation and telemanipulation schemes for robot arm hand systems.
Evaluating the Dexterity of Human and Robot Hands
Evaluating the dexterity of human and robot hands, deriving appropriate metrics for design optimization.
Reconfigurable Drones for Package Delivery
Developing a new class of reconfigurable drones for package delivery.
Teaching | Current
MECHENG736 - Biomechatronic Systems (Role: Course Coordinator & Director \ Lecturer)
Years: 2017, 2018, 2019, 2020, 2021
Explores principles, methods and techniques of Mechatronics for analyzing, modelling, designing and controlling bioinspired robotic systems and biomechatronic systems.
Topics: 1) Introduction to Biomechatronics, 2) Biological Signals & Biosensors (e.g., EEG, EMG, ECG, Vision, Sound and haptic sensors etc.), 3) Human Motion Analysis (e.g., gait kinematics and kinetics analysis), 4) Bioinstrumentation (e.g., pneumatic muscles, IPMC, DEA, Hybrid actuators etc.), 5) Human Robot Interaction (e.g., human-robot interaction modelling, antagonistic configurations, direct force control, impedance and assist-as-needed control etc.), 6) Biomechatronic Example #1 (e.g., rehabilitation robots and assistive devices, design optimization, Integration of biosensors and actuators, interfacing issues etc.), 7) Biomechatronic Example #2 (e.g., biorobotic instrumentation, design and analysis of soft-bodied robotics).
MECHENG 201: Introduction to Mechatronics (Role: Course Director \ Lecturer Description)
Years: 2018, 2019, 2020, 2021
Introduces mechatronics to mechanical and mechatronics engineers. Covers sensors and actuators, analogue and digital circuit elements for signal processing and programming
MECHENG730 - Advanced Biomechatronic Systems (Role: Course Coordinator & Director \ Lecturer)
Years: 2017, 2018, 2019, 2020, 2021
The advanced version of MECHENG 736.
MECHENG201 - Electronics and Computing for Mechanical Engineers (Role: Lecturer)
Mechanical engineers need to be familiar with those electronics and software elements that are now vital components of most mechanical products and processes. Introduces sensors and actuators, analogue and digital circuit elements for signal processing, and computing and software programming.
I have supervised to completion 3 PhD theses, 6 ME theses, 14 MEngSt projects, and the P4P of 42 undergraduate students.
Currently, I supervise 10 PhD thesis, 3 ME theses, and the P4P of 12 undergraduate students.
Alumni - PhD Students:
Lucas Gerez (2021)
Current Position: Postdoctoral Fellow at Harvard University (USA)
Anany Dwivedi (2021)
Current Position: Postdoctoral Associate at the Friedrich-Alexander-Universität Erlangen-Nürnberg (Germany)
Gal Gorjup (2021)
Current Position: Robotics Development Engineer, Airnamics (Slovenia)
Current PhD Students:
Che-Ming (Ben) Chang
Joao Pedro Sansao Buzzatto
Ricardo de Godoy
Alumni - ME Students:
Jimmy Lin (2021)
Vandna Patel (2021)
Navin Perera (2021)
Arran Davis (2020)
Helen Evans (2019)
Varatharajan Srinivasan (2019)
Current ME Students:
Dah Young Kim
Devin Mukalanyaye Ranasinghe
Alumni - MEngSt Students
Yuran Zhou (2021)
Nigel Sim Joon Leck (2020)
Kyaw Tun Ko (2020)
Rohit Joshua Rajasekar (2020)
Harsha Thiruvengadam (2019)
Junan Chen (2018)
Waris Hasan (2018)
Alexandre Eichene (2018)
Ashkan Eslamighane (2018)
Sai Sasanka Jupalli (2018)
Chi-Hung Yang (2018)
Shivang Pathak (2017)
Brahmaji Alla Rudhra (2017)
Pratik Sankh (2017)
2021 - Best Paper Award on Robotic Mechanisms and Design, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic / Online.
2020 - Students' Choice Top Teacher Award, Faculty of Engineering, University of Auckland.
2020 - 1st Prize, United Cerebral Palsy Los Angeles Assistive Devices Challenge, Hackaday Prize, Online.
2020 - 3rd place of the Manufacturing track of the Robotic Grasping and Manipulation Competition of IEEE\RSJ International Conference on Robotics and Intelligent Systems (IROS), Las Vegas, USA / Online.
2020 - Finalist, Best Paper Award on Robotic Mechanisms and Design, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, USA / Online.
2019 - 1st place of the Manufacturing track of the Robotic Grasping and Manipulation Competition of IEEE\RSJ International Conference on Robotics and Intelligent Systems (IROS) 2019 (Macau, China).
2018 - Students' Choice Top Teacher Award, Faculty of Engineering, University of Auckland.
2017 - Sarafis Award for Best PhD Thesis, National Technical University of Athens.
2015 - 2nd Prize (out of 900+ projects from 50+ countries), Hackaday Prize, Hackaday.
2015 - Robotdalen International Innovation Award, Robotdalen.
2013 - Thomaidion Award for Scientific Publications.
2012 - Student Travel Award, IEEE International Conference on Robotics and Automation (ICRA).
2012 - Thomaidion Award for Scientific Publications.
2010 - Thomaidion Award for Scientific Publications.
Part 4 Projects (Final Year Research Projects) Coordinator of the Department of Mechanical and Mechatronics Engineering (Course Coordinator & Director of MECHENG 700 A/B)
Coordinator of Field Trips, Part III Mechatronics, Dept. of Mechanical and Mechatronics Engineering
Postgraduate Studies Supervisor, Department of Mechanical and Mechatronics Engineering
Areas of expertise
- Robotic and Bionic Grippers and Hands
- Assistive and Human Augmentation Devices
- Robot Grasping and Dexterous Manipulation
- Analysis and Evaluation of Human and Robot Dexterity
- Robotic Teleoperation and Telemanipulation
- Muscle Machine Interfacing Methods
- Human to Robot Skill Transfer
- Modular Reconfigurable Drones
- All-Terrain Robotic Vehicles
- Machine Learning and Pattern Recognition
- Design and Development of Mechatronic Systems
- Humanoid Robots
IEEE - Senior Member
IEEE Robotics and Automation Society - Senior Member
IEEE Technical Committee on Robotic Hand Grasping and Manipulation
Technical Chamber of Greece - Member
Selected publications and creative works (Research Outputs)
- Gorjup, G., Dwivedi, A., Elangoval, N., & Liarokapis, M. (2019). An Intuitive, Affordances Oriented Telemanipulation Framework for a Dual Robot Arm Hand System: On the Execution of Bimanual Tasks. Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China. 4 November - 8 November 2019. Related URL.
- Dwivedi, A., Kwon, Y., McDaid, A. J., & Liarokapis, M. (2019). A Learning Scheme for EMG Based Decoding of Dexterous, In-Hand Manipulation Motions. IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society, 27 (10), 2205-2215. 10.1109/tnsre.2019.2936622
Other University of Auckland co-authors: Andrew McDaid
- Gao, G., Dwivedi, A., Elangovan, N., Cao, Y., Young, L., & Liarokapis, M. (2019). The New Dexterity Adaptive, Humanlike Robot Hand. Paper presented at 2019 International Conference on Robotics and Automation (ICRA), Montreal, Canada. 20 May - 24 May 2019. IEEE International Conference on Robotics and Automation. Related URL.
- Bewley, T., & Liarokapis, M. (2019). On the Combination of Gamification and Crowd Computation in Industrial Automation and Robotics Applications. Paper presented at 2019 International Conference on Robotics and Automation (ICRA), Montreal, Canada. 20 May - 24 May 2019. IEEE International Conference on Robotics and Automation. Related URL.
- Gerez, L., Chen, J., & Liarokapis, M. (2019). On the Development of Adaptive, Tendon-Driven, Wearable Exo-Gloves for Grasping Capabilities Enhancement. IEEE Robotics and Automation Letters, 4 (2), 422-429. 10.1109/LRA.2019.2890853Y
- Liarokapis, M., & Dollar, A. M. (2019). Combining Analytical Modeling and Learning to Simplify Dexterous Manipulation With Adaptive Robot Hands. IEEE Transactions on Automation Science and Engineering, 16 (3), 1361-1372. 10.1109/TASE.2018.2885801
- Dwivedi, A., Kwon, Y., McDaid, A. J., & Liarokapis, M. (2018). EMG Based Decoding of Object Motion in Dexterous, In-Hand Manipulation Tasks. Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. 10.1109/BIOROB.2018.8487222
Other University of Auckland co-authors: Andrew McDaid
- Kostakis, V., Latoufis, K., Liarokapis, M., & Bauwens, M. (2018). The convergence of digital commons with local manufacturing from a degrowth perspective: Two illustrative cases. Journal of Cleaner Production, 197, 1684-1693. 10.1016/j.jclepro.2016.09.077
Building 405, Room 841
Please send me an email if you want to schedule a meeting with me.
Primary office location
ENGINEERING BLOCK 5 - Bldg 405
Level 8, Room 841
5 GRAFTON RD