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Volvo 240

Playing with Robots

Legged Robots




Papers published (from my work as a researcher at the NTUA):

Journal papers and book chapters:

1. Cherouvim N. and Papadopoulos E., "A Novel Energy Transfer Mechanism in a Running Quadruped Robot with One Actuator per Leg," Advanced Robotics, vol. 24 No. 7, 2010.
2. Cherouvim N. and Papadopoulos E., "The SAHR Setup - Controlling Hopping Speed and Height Using a Single Actuator," Journal of Applied Bionics and Biomechanics, vol. 5, no. 3, September 2008.
3. Cherouvim N. and Papadopoulos E., "Energy Saving Passive-Dynamic Gait for a One-Legged Hopping Robot," Robotica, vol. 24, 2006.
4. Cherouvim N. and Papadopoulos E., "Single Actuator Control of a 3DOF Hopping Robot," Chapter in Robotics: Science and Systems I, Thrun et al. (Eds.), MIT Press, Cambridge, MA, December 2005.

Conference papers:

1. Nikolakakis A., Kontolatis I., Cherouvim N., Chatzakos P. and Papadopoulos E., "Implementation of a Quadruped Robot Bounding/ Pronking Gait Using a Multipart Controller,", Special Session on "Vehicle Dynamics and Control", 2010 ASME Dynamic Systems and Control Conference, Cambridge, MA, 2010.
2. Cherouvim N. and Papadopoulos E., "Control of Hopping Speed and Height Over Unknown Rough Terrain Using a Single Actuator," IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009.
3. Cherouvim N. and Papadopoulos E., "Speed and Height Control for a Special Class of Running Quadruped Robots," IEEE International Conference on Robotics and Automation, Pasadena, CA, 2008.
4. Cherouvim N. and Papadopoulos E., "Use of a Novel Multipart Controller for the Parametric Study of a Trotting Quadruped Robot," IEEE International Conference on Robotics and Automation, Pasadena, CA, 2008.
5. Cherouvim N. and Papadopoulos E., "Pitch Control for Running Quadrupeds Using Leg Positioning in Flight," IEEE Mediterranean Conference on Control and Automation, Athens, Greece, 2007.
6. Cherouvim N. and Papadopoulos E., "Speed Control of Quadrupedal Bounding Using a Reaction Wheel," IEEE Conference on Control Applications, Munich, Germany, 2006.
7. Cherouvim N. and Papadopoulos E., "Single Actuator Control Analysis of a Planar Hopping Robot," Robotics: Science and Systems, MIT, Cambridge, MA, 2005.
8. Papadopoulos E. and Cherouvim N., "On Increasing Energy Autonomy for a One-Legged Hopping Robot," IEEE International Conference on Robotics and Automation, New Orleans, LA, 2004.

Papers in Greek:

1. Cherouvim N., Chatzakos P., Nikolakakis A. and Papadopoulos E., "Novel Design and Control of a Robot with One Leg," 1st Panhellenic Conference on Robotics, Athens, Greece, 2009.



Distinctions:
  • Thomaidio Prize for paper publication (2005, 2006, 2007).
  • Participation in research program PENED 2003 (researcher) (2005-2009).
  • Scholarship from the State Scholarships Foundation as PhD graduate student (2004-2009).
  • Graduated 5th from the NTUA, amongst 191 graduates (2003).
  • Scholarship from the State Scholarships Foundation (2000-2001), (2001-2002).
  • Scholarship from the Technical Chamber of Greece (2000-2001).
  • Admitted 23rd to the Mechanical Engineering course, NTUA, out of about 170 (1998).