Dr Minas Liarokapis
DipEng University of Patras, MSc National Kapodistrian University of Athens, PhD National Technical University of Athens
Dr. Liarokapis is a 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 received a Diploma in Computer Engineering from the University of Patras in 2008, a MSc in Information Technologies in Medicine and Biology from the National Kapodistrian University of Athens in 2010 and a PhD in Mechanical Engineering from the National Technical University of Athens in 2014.
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/EEG Based Interfaces
Formulation of advanced learning schemes for the EMG/EEG 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
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.
MECHENG736 - Biomechatronic Systems (Role: Course Coordinator & Director \ Lecturer)
Years: 2017. 2018
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).
MECHENG730 - Advanced Biomechatronic Systems (Role: Course Coordinator & Director \ Lecturer)
The advanced version of MECHENG 736.
ME - Research Students
MEngSt - Mechanical Engineering Students
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.
Postgraduate Studies Advisor, Department of Mechanical Engineering
Part III - Mechatronics, Field Trips Coordinator
Areas of expertise
Robot Grasping and Manipulation
Brain Machine Interfaces
Design of Robotic and Bionic Devices
Machine Learning and Pattern Recognition.
IEEE - Member
IEEE Robotics and Automation Society - Member
ASME - Member
Technical Chamber of Greece - Member
Selected publications and creative works (Research Outputs)
- Liarokapis, M. V., & Dollar, A. M. (2018). Post-contact, in-hand object motion compensation with adaptive hands. IEEE Transactions on Automation Science and Engineering, 15 (2), 456-467. 10.1109/TASE.2016.2622001
- Liarokapis, M., Bechlioulis, C. P., Artemiadis, P. K., & Kyriakopoulos, K. J. (2017). Deriving humanlike arm hand system poses. Journal of Mechanisms and Robotics, 9 (1)10.1115/1.4035505
- Spiers, A. J., Liarokapis, M. V., Calli, B., & Dollar, A. M. (2016). Single-grasp object classification and feature extraction with simple robot hands and tactile sensors. IEEE Transactions on Haptics, 9 (2), 207-220. 10.1109/TOH.2016.2521378
- Kostakis, V., Latoufis, K., Liarokapis, M., & Bauwens, M. (2016). The convergence of digital commons with local manufacturing from a degrowth perspective: Two illustrative cases. Journal of Cleaner Production10.1016/j.jclepro.2016.09.077
- Liarokapis, M. V., & Dollar, A. M. (2016). Learning Task-Specific Models for Dexterous, In-Hand Manipulation with Simple, Adaptive Robot Hands. Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, SOUTH KOREA. 9 October - 14 October 2016. 2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016). (pp. 8).
- Kontoudis, G. P., Liarokapis, M. V., Zisimatos, A. G., Mavrogiannis, C. I., & Kyriakopoulos, K. J. (2015). Open-source, anthropomorphic, underactuated robot hands with a selectively lockable differential mechanism: Towards affordable prostheses. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 5857-5862. Hamburg, Germany: IEEE. 10.1109/IROS.2015.7354209
- Liarokapis, M. V., Calli, B., Spiers, A. J., & Dollar, A. M. (2015). Unplanned, model-free, single grasp object classification with underactuated hands and force sensors. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 5073-5080. Hamburg, Germany: IEEE. 10.1109/IROS.2015.7354091
- Zisimatos, A. G., Liarokapis, M. V., Mavrogiannis, C. I., & Kyriakopoulos, K. J. (2014). Open-source, affordable, modular, light-weight, underactuated robot hands. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 3207-3212. Chicago, IL, USA: IEEE. 10.1109/IROS.2014.6943007
- +64 9 923 6688
Building 401, Room 915
Primary office location
ENGINEERING BLOCK 1 - Bldg 401
20 SYMONDS ST