Costas Tzafestas : Selected publications

Journals

C. S. Tzafestas, K. Birbas, Y. Koumpouros, and D. Christopoulos, Pilot Evaluation Study of a Virtual Paracentesis Simulator for Skill Training and Assessment: The Beneficial Effect of Haptic Display, PRESENCE: Teleoperators and Virtual Environments, MIT Press, Volume 17, Issue 2, April 2008.

C.S. Tzafestas, N. Palaiologou, M. Alifragis, Virtual and Remote Robotic Laboratory: Comparative Experimental Evaluation , IEEE Transactions on Education, vol. 49, no. 3, p.360-369, August 2006.

C.S. Tzafestas. Whole-Hand Kinesthetic Feedback and Haptic Perception in Dextrous Virtual Manipulation, IEEE Transactions on Systems, Man and Cybernetics (Part A: Systems and Humans), Vol.33, No.1, pp.100-113, January 2003.
(ktzaf_IEEE_TSMCA_33_1_2003.pdf, 14 pages, 885Kb)

C.S. Tzafestas and P. Maragos. Shape Connectivity: Multiscale Analysis and Application to Generalized Granulometries, Journal of Mathematical Imaging and Vision, Special Issue on Shapes and Textures, vol.17, pp.107-127, September 2002.
(Tzafestas-Maragos-JMIV-17-2002.pdf, 21 pages, 800Kb)

C. Tzafestas and P. Coiffet. Dextrous Haptic Interaction with Virtual Environmeents: Hand-Distributed Kinesthetic Feedback and Haptic Perception, Systems Analysis Modeling and Simulation , vol.1, no.7, pp.1-44, July 2000.
(iarp_98.ps.zip, 14 pages, 420Kb)

C.S. Tzafestas, P.A. Prokopiou, and S.G. Tzafestas. A differential motion planning algorithm for controlling multi-robot systems handling a common object, Control and Cybernetics, vol. 29, no. 2, 567-584, 2000.

A. Kheddar, C.Tzafestas, P. Coiffet, K. Kotoku and K. Tanie. Multi-robot teleoperation using direct human-hand actions, Advanced Robotics, vol.11, no.8, pp.799-825, 1998

C.S. Tzafestas, P.A. Prokopiou, S.G. Tzafestas. Path Planning and Control of a Cooperative Three-Robot System Manipulating Large Objects, Journal of Intelligent and Robotic Systems, vol.22, pp.99-116, 1998
(ktzaf-JIRS-22-98.pdf, 18 pages, 280Kb)

C.S. Tzafestas, N. M'Sirdi, N. Manamani. Adaptive impedance control applied to a pneumatic legged robot, Journal of Intelligent and Robotic Systems, , vol.20, pp.105-129, 1997.
(ktzaf-JIRS-20-97.pdf, 25 pages, 770Kb)

S.G. Tzafestas, M. Raibert, C.S. Tzafestas. Robust Sliding Mode Control Applied to a 5-link Biped Robot, Journal of Intelligent and Robotic Systems, , vol.15, pp.67-133, 1996.
(ktzaf-raibert-jirs-15-1996.pdf, 34 pages, 4.2Mb)

Conferences

C.S. Tzafestas, S. Velanas and G. Fakiridis, Adaptive Impedance Control in Haptic Teleoperation to Improve Transparency under Time-Delay, in Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA'08), Pasadena, California, May 19-23, 2008.
N. Mitsou, and C.S. Tzafestas, Maximum Likelihood SLAM on Dynamic Environments, in Proc.: The annual IEEE International Conference on Tools with Artificial Intelligence (ICTAI'2007), Patras, Greece, October 29-31, 2007.
C. S Tzafestas, D. Christopoulos, and K. Birbas, Haptic display improves training and skill assessment performance in a virtual paracentesis simulator: A pilot evaluation study, in Proceedings of the EUROHAPTICS 2006 International Conference, pp. 119-124, Paris, France, 3-6 July 2006.
N. Mitsou, S. Velanas, and C.S. Tzafestas, Visuo-Haptic Interface for Teleoperation of Mobile Robot Exploration Tasks , in Proceedings of the 15th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN'06) , University of Hertfordshire, Hatfield, United Kingdom, pp. 157-163, 6-8 September 2006.
C.S. Tzafestas, N. Palaiologou, M. Alifragis, Experimental Evaluation and Pilot Assessment Study of a Virtual and Remote Laboratory on Robotic Manipulation, IEEE International Symposium on Industrial Electronics (ISIE'2005), pp.1677-1683, Dubrovnik, Croatia, June 20-23, 2005.
C.S. Tzafestas, Y. Koumpouros, K. Birbas, Paracentesis modeling and VR-based interactive simulation with haptic display for clinical skill training and assessment, in: Proceedings of The International Conference on Integrated Modeling & Analysis in Applied Control & Automation (IMAACA'2004), Special Session on: Virtual Reality and Haptics for Modeling, Design and Interactive Simulation. I3M: International Mediterranean Modeling Multiconference, Genoa, Italy, October 28-31 2004.
C.S. Tzafestas, Y. Koumpouros, K. Birbas, Haptic interaction in VR-based paracentesis simulation for dexterity enhancement and assessment, in: Proceedings of the 18th International Congress and Exhibition on Computer Assisted Radiology and Surgery (CARS 2004), June 23 - 26, 2004 Chicago, USA.
C. S. Tzafestas. Teleplanning by Human Demonstration for VR-based Teleoperation of a Mobile Robotic Assistant , 10th IEEE Intl. Workshop on Robot and Human Communication (ROMAN'2001) , Paris, France, September 18-21, 2001.
(Tzafestas_ROMAN_2001.pdf, 7 pages, 760Kb)
C.Tzafestas, A. Kheddar and P. Coiffet. Kinesthetic Feedback on the Human Hand Interacting with Virtual Environments: Design, Control and Haptic Perception Issues , Third European Robotics, Intelligent Systems & Control Conference (EURISCON'98) , Athens, June 22-25, 1998.
Published in: Progress in Systems and Robot Analysis and Control Design) , pp.397-422, Springer, 1999.
C. Tzafestas and P. Coiffet. Dextrous Haptic Interaction with Virtual Environmeents: Hand-Distributed Kinesthetic Feedback and Haptic Perception, IARP First International Workshop on Humanoid and Human Friendly Robotics, Tsukuba, Japan, October 26-27, 1998.
C. Tzafestas and P. Coiffet. Computing Optimal Forces for Generalized Kinesthetic Feedback on the Human Hand during Virtual Grasping and Manipulation, Proceedings 1997 IEEE International Conference on Robotics and Automation (ICRA'97), pp. 118-123, Albuquerque, New Mexico, 20-25 April, 1997.
(ktzaf_icra_97.pdf, 6 pages, 710Kb)
C. Tzafestas and P. Coiffet. Real-Time Collision Detection Using Spherical Octrees, Proceedings 1996 IEEE International Workshop on Robot and Human Communication (RO-MAN'96), pp. 500-506, Tsukuba, Japan, 11-14 November, 1996.
(Tzafestas_ROMAN_96.ps.zip, 7 pages, 120Kb)
C. Tzafestas, M. Guihard and N. M'Sirdi. Two-stage Adaptive Impedance Control Applied to a Legged Robot, Proceedings 1995 IEEE International Conference on Intelligent Robots and Systems (IROS'95), Pittsburgh, USA, 1995.
(ktzaf_iros_95.pdf, 6 pages, 440Kb)
S.G. Tzafestas, M. Raibert, C.S. Tzafestas. Comparative Simulation Study of three Control Techniques applied to a Biped Robot, Proceedings 1993 IEEE International Conference on Systems Man and Cybernetics (SMC’93), LeTouquet, France, 1993.
(ktzaf_smc_93.pdf, 6 pages, 520Kb)

Ph.D. Thesis

Synthèse de Retour Kinesthésique et Perception Haptique lors de Tâches de Manipulation Virtuelle
(Kinesthetic Feedback Design and Haptic Perception in Virtual Manipulation Tasks)
(not-ftp-available yet)

Reports

C.S.Tzafestas and D. Valatsos, VR-based Teleoperation of a Mobile Robotic Assistant: Progress Report, Demokritos Technical Report DEMO 00/13, October 2000.
(KTzaf_Demo_2000_13.pdf, 23 pages, 1.05M)

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Page last updated 7 April 2008.
Send mail to Costas Tzafestas (ktzaf@softlab.ece.ntua.gr)