Welcome!

I am a Lecturer in the Department of Mechanical Engineering at the University of Auckland (New Zealand) and director of the New Dexterity research group. Previously, I was a Postdoctoral Associate in the GRAB Lab at Yale University working with Prof. Aaron Dollar.

During my postdoctoral training, my research focused on hybrid schemes that combine analytical models, constrained optimization methods and machine learning techniques to simplify robust grasping, dexterous, in-hand manipulation and haptic object identification using adaptive robot hands. During my PhD studies, I worked under the supervision of Prof. Kostas Kyriakopoulos in the Control Systems Lab and my research focused on EMG-based decoding of human motion and intention for the control of robotic and prosthetic devices in structured and dynamic environments.

I am 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. I am the founder of the OpenBionics initiative and a co-founder and technical coordinator of the OpenRobotHardware and HandCorpus initiatives.

RESEARCH

Brief list of research interests.

Robust Grasping

Dexterous Manipulation

Haptic Object Identification

Adaptive Robot Hands

Assistive Devices

Brain Machine Interfaces

Humanlike Telemanipulation

Human & Robot Dexterity

Reconfigurable Drones

More details can be found in the New Dexterity group website: www.newdexterity.org

PUBLICATIONS

List of research papers.


Peer Reviewed Publications

2018

[#37 | PDF] V. Kostakis, K. Latoufis, M. Liarokapis, and M. Bauwens, "The convergence of digital commons with local manufacturing from a degrowth perspective: Two illustrative cases", Journal of Cleaner Production, vol. 197, no. 2, pp. 1684-1693, October 2018.

[#36 | PDF] M. Liarokapis and A. M. Dollar, "Post-Contact, In-Hand Object Motion Compensation with Adaptive Hands", IEEE Transactions on Automation Science and Engineering, vol. 15, no. 2, pp. 456-467, April 2018.

[#34 | PDF | IROS #13] Z. Flintoff, B. Johnston, and M. Liarokapis, "Single-Grasp, Model-Free Object Classification using a Hyper-Adaptive Hand, Google Soli, and Tactile Sensors," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018.

[#33 | PDF] Anany Dwivedi, Yongje Kwon, Andrew J. McDaid, and Minas Liarokapis, "EMG Based Decoding of Object Motion in Dexterous, In-Hand Manipulation Tasks," 7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Enschede, Netherlands, 2018.

[#32 | PDF] Lucas Gerez and Minas Liarokapis, "A Compact Ratchet Clutch Mechanism for Fine Tendon Termination and Adjustment," IEEE International Conference on Advanced Intelligent Mechatronics, Auckland, New Zealand, 2018.

[#31 | PDF] Yongje Kwon, Anany Dwivedi, Andrew J. McDaid, and Minas Liarokapis, "On Muscle Selection for EMG Based Decoding of Dexterous, In-Hand Manipulation Motions," 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Honolulu, HI, USA, 2018.

2017

[#30 | PDF] M. V. Liarokapis, C. P. Bechlioulis, P. K. Artemiadis and K. J. Kyriakopoulos, "Deriving Humanlike Arm Hand System Poses", ASME Journal of Mechanisms and Robotics, vol. 9, no. 1, January 2017.

[#29 | PDF | IROS #12] M. V. Liarokapis and A. M. Dollar, "Deriving Dexterous, In-Hand Manipulation Primitives for Adaptive Robot Hands," 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017.

[#28 | PDF | IROS #11] M. V. Liarokapis and A. M. Dollar, "Learning the Post-Contact Reconfiguration of the Hand Object System for Adaptive Grasping Mechanisms," 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017.

2016

[#27 | PDF] Y. Huang, M. Bianchi, M. V. Liarokapis and Y. Sun, "Recent Datasets on Object Manipulation: A Survey", Big Data, vol. 4, no. 4, pp. 197-216, December 2016.

[#26 | PDF | Citation File (.bib)] A. J. Spiers, M. V. Liarokapis, B. Calli and A. M. Dollar, "Single-Grasp Object Classification and Feature Extraction with Simple Robot Hands and Tactile Sensors," in IEEE Transactions on Haptics, vol. 9, no. 2, pp. 207-220, April-June 1 2016.

[#25 | PDF | Citation File (.bib)] M. V. Liarokapis, C. P. Bechioulis, G. I. Boutselis and K. J. Kyriakopoulos, "A Learn by Demonstration Approach for Closed-Loop, Robust, Anthropomorphic Grasp Planning." Human and Robot Hands: Sensorimotor Synergies to Bridge the Gap Between Neuroscience and Robotics. Springer International Publishing, 2016. 127-149.

[#24 | PDF | Citation File (.bib) | IROS #10] M. V. Liarokapis and A. M. Dollar, "Learning task-specific models for dexterous, in-hand manipulation with simple, adaptive robot hands," 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea, 2016, pp. 2534-2541.

[#23 | PDF | Citation File (.bib)] M. Liarokapis and A. M. Dollar, "Post-contact, in-hand object motion compensation for compliant and underactuated hands," 2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), New York, NY, USA, 2016, pp. 986-993.

2015

[#22 | PDF | Citation File (.bib) | IROS #9] M. V. Liarokapis, B. Calli, A. J. Spiers and A. M. Dollar, "Unplanned, model-free, single grasp object classification with underactuated hands and force sensors," 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, 2015, pp. 5073-5080.

[#21 | PDF | Citation File (.bib) | IROS #8] C. I. Mavrogiannis, M. V. Liarokapis and K. J. Kyriakopoulos, "Quantifying anthropomorphism of robot arms," 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, 2015, pp. 4084-4089.

[#20 | PDF | Citation File (.bib) | IROS #7] G. P. Kontoudis, M. V. Liarokapis, A. G. Zisimatos, C. I. Mavrogiannis and K. J. Kyriakopoulos, "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), Hamburg, 2015, pp. 5857-5862.

[#19 | PDF | Citation File (.bib)] M. V. Liarokapis, A. M. Dollar and K. J. Kyriakopoulos, "Humanlike, task-specific reaching and grasping with redundant arms and low-complexity hands," 2015 International Conference on Advanced Robotics (ICAR), Istanbul, 2015, pp. 490-497.

2014

[#18 | PDF | Citation File (.bib)] M. V. Liarokapis, K. J. Kyriakopoulos, and P. K. Artemiadis. "A learning scheme for EMG based interfaces: On task specificity in motion decoding domain." Neuro-Robotics: From Brain Machine Interfaces to Rehabilitation Robotics. Springer Netherlands, 2014. 3-36.

[#17 | PDF | Citation File (.bib) | IROS #6] A. G. Zisimatos, M. V. Liarokapis, C. I. Mavrogiannis and K. J. Kyriakopoulos, "Open-source, affordable, modular, light-weight, underactuated robot hands," 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, 2014, pp. 3207-3212.

[#16 | PDF | Citation File (.bib) | IROS #5] G. I. Boutselis, C. P. Bechlioulis, M. V. Liarokapis and K. J. Kyriakopoulos, "Task specific robust grasping for multifingered robot hands," 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, 2014, pp. 858-863.

[#15 | PDF | Citation File (.bib) | IROS #4] C. P. Bechlioulis, M. V. Liarokapis and K. J. Kyriakopoulos, "Robust model free control of robotic manipulators with prescribed transient and steady state performance," 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, 2014, pp. 41-46.

[#14 | PDF | Citation File (.bib) | IROS #3] S. Heshmati-alamdari, C. P. Bechlioulis, M. V. Liarokapis and K. J. Kyriakopoulos, "Prescribed performance image based visual servoing under field of view constraints," 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, 2014, pp. 2721-2726.

[#13 | PDF | Citation File (.bib)] M. V. Liarokapis, A. G. Zisimatos, M. N. Bousiou and K. J. Kyriakopoulos, "Open-source, low-cost, compliant, modular, underactuated fingers: Towards affordable prostheses for partial hand amputations," 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Chicago, IL, 2014, pp. 2541-2544.

[#12 | PDF | Citation File (.bib) | ICRA #5] C. I. Mavrogiannis, C. P. Bechlioulis, M. V. Liarokapis and K. J. Kyriakopoulos, "Task-specific grasp selection for underactuated hands," 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014, pp. 3676-3681.

[#11 | PDF | Citation File (.bib) | ICRA #4] G. I. Boutselis, C. P. Bechlioulis, M. V. Liarokapis and K. J. Kyriakopoulos, "An integrated approach towards robust grasping with tactile sensing," 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014, pp. 3682-3687.

2013

[#10 | PDF | Citation File (.bib)] M. V. Liarokapis, P. K. Artemiadis, K. J. Kyriakopoulos and E. S. Manolakos, "A Learning Scheme for Reach to Grasp Movements: On EMG-Based Interfaces Using Task Specific Motion Decoding Models," in IEEE Journal of Biomedical and Health Informatics, vol. 17, no. 5, pp. 915-921, Sept. 2013.

[#9 | PDF | Citation File (.bib) | IROS #2] M. V. Liarokapis, P. K. Artemiadis and K. J. Kyriakopoulos, "Mapping human to robot motion with functional anthropomorphism for teleoperation and telemanipulation with robot arm hand systems," 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, 2013, pp. 2075-2075.

[#8 | PDF | Citation File (.bib)] M. V. Liarokapis, P. K. Artemiadis and K. J. Kyriakopoulos, "Telemanipulation with the DLR/HIT II robot hand using a dataglove and a low cost force feedback device," 21st Mediterranean Conference on Control and Automation, Chania, 2013, pp. 431-436.

[#7 | PDF | Citation File (.bib)] M. V. Liarokapis, P. K. Artemiadis and K. J. Kyriakopoulos, "Task discrimination from myoelectric activity: A learning scheme for EMG-based interfaces," 2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR), Seattle, WA, 2013, pp. 1-6.

[#6 | PDF | Citation File (.bib) | ICRA #3] M. V. Liarokapis, P. K. Artemiadis and K. J. Kyriakopoulos, "Quantifying anthropomorphism of robot hands," 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, 2013, pp. 2041-2046.

2012

[#5 | PDF | Citation File (.bib)] M. V. Liarokapis, P. K. Artemiadis and K. J. Kyriakopoulos, "Functional Anthropomorphism for human to robot motion mapping," 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication, Paris, 2012, pp. 31-36.

[#4 | PDF | Citation File (.bib)] M. V. Liarokapis, P. K. Artemiadis, P. T. Katsiaris and K. J. Kyriakopoulos, "Learning task-specific models for reach to grasp movements: Towards EMG-based teleoperation of robotic arm-hand systems," 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Rome, 2012, pp. 1287-1292.

[#3 | PDF | Citation File (.bib) | ICRA #2] M. V. Liarokapis, P. K. Artemiadis, P. T. Katsiaris, K. J. Kyriakopoulos and E. S. Manolakos, "Learning human reach-to-grasp strategies: Towards EMG-based control of robotic arm-hand systems," 2012 IEEE International Conference on Robotics and Automation, Saint Paul, MN, 2012, pp. 2287-2292.

2011

[#2 | PDF | Citation File (.bib) | ICRA #1] P. K. Artemiadis, P. T. Katsiaris, M. V. Liarokapis and K. J. Kyriakopoulos, "On the effect of human arm manipulability in 3D force tasks: Towards force-controlled exoskeletons," 2011 IEEE International Conference on Robotics and Automation, Shanghai, 2011, pp. 3784-3789.

2010

[#1 | PDF | Citation File (.bib) | IROS #1] P. K. Artemiadis, P. T. Katsiaris, M. V. Liarokapis and K. J. Kyriakopoulos, "Human arm impedance: Characterization and modeling in 3D space," 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, 2010, pp. 3103-3108.

Workshops and Abstracts

[#2 | PDF | Citation File (.bib)] M. V. Liarokapis, A. G. Zisimatos, C. I. Mavrogiannis and K. J. Kyriakopoulos, "OpenBionics: An Open-Source Initiative for the Creation of Affordable, Modular, Light-Weight, Underactuated Robot Hands and Prosthetic Devices", 2nd ASU Rehabilitation Robotics Workshop - Arizona State University (ASU), Tempe, AZ, 2014.

[#1 | PDF | Citation File (.bib)] M. Bianchi and M. V. Liarokapis, "HandCorpus, a New Open-Access Repository for Sharing Experimental Data and Results on Human and Artificial Hands", IEEE World Haptics Conference (WHC), Daejeon, 2013.

Technical Reports

[#3 | PDF | Citation File (.bib)] G. P. Kontoudis, M. V. Liarokapis, A. G. Zisimatos, C. I. Mavrogiannis, and K. J. Kyriakopoulos, "How to Create Affordable, Anthropomorphic, Personalized, Light-Weight Prosthetic Hands", Control Systems Lab, School of Mechanical Engineering, National Technical University of Athens, October 2015.

[#2 | PDF | Citation File (.bib)] A. G. Zisimatos, M. V. Liarokapis, C. I. Mavrogiannis, G. P. Kontoudis and K. J. Kyriakopoulos, "How to Create Affordable, Modular, Light-Weight, Underactuated, Compliant Robot Hands", Control Systems Lab, School of Mechanical Engineering, National Technical University of Athens, January 2015.

[#1 | PDF | Citation File (.bib)] M. V. Liarokapis, P. K. Artemiadis, C. P. Bechlioulis and K. J. Kyriakopoulos, "Directions, Methods and Metrics for Mapping Human to Robot Motion with Functional Anthropomorphism: A Review", Control Systems Lab, School of Mechanical Engineering, National Technical University of Athens, September 2013.

PhD Theses

Minas V. Liarokapis, EMG Based Interfaces for Human Robot Interaction in Structured and Dynamic Environments, Dissertation. National Technical University of Athens, 2014. [PDF] [Compressed PDF] [Citation File (.bib)]

INITIATIVES

Participation in research initiatives.


OpenBionics

OpenBionics is an open-source initiative that focuses on the development of affordable, light-weight, modular robot hands and prosthetic devices, that can be easily reproduced using rapid prototyping techniques and off-the-shelf materials. Dr Minas Liarokapis is the founder of the OpenBionics initiative.

The OpenBionics prosthetic hand design won the 2015 Robotdalen International Innovation award and the 2nd Prize (out of 900 projects) of the 2015 Hackaday Prize. More information can be found at OpenBionics website: www.openbionics.org

OpenRobotHardware

OpenRobotHardware is intended to serve as a resource for efforts focusing on open and open-source mechanical and electrical hardware, with a particular focus on projects that may be useful in robotics applications, robotics research and education.

Prof. Aaron Dollar (Yale University) is the Founder / Coordinator of OpenRobotHardware, while Dr Minas Liarokapis is a Co-Founder / Technical Coordinator. More details can be found at the following URL: www.openrobothardware.org

HandCorpus

The HandCorpus is a new repository where everyone can freely share and search for different kinds of experimental data about human and robotic hands. The repository is currently supported by 7 European Research Council/European Commission funded projects, and has a growing community that consists of 22 international research groups from 18 universities and 4 research institutes, across the world.

HandCorpus was created in collaboration with Matteo Bianchi and is available at: www.handcorpus.org

VIDEOS

Research videos in chronological order.


CONTACT

Interested in my research? Contact me!



+64 9-923-6688
m [dot] liarokapis [at] auckland [dot] ac [dot] nz