Emmanouil Spyrakos-Papastavridis
King's College London, The King's College, Italian Institute of Technology, Q Bot (United Kingdom), Imperial College London, King's College School
Papers
26
Total Citations
585
H-Index
13
About
Emmanouil Spyrakos-Papastavridis is a robotics researcher whose work spans robot control theory, human-robot interaction, and multi-robot systems, with a particular focus on compliant and flexible-joint robot platforms. His most influential contribution, a dual quaternion-based framework for calibrating collaborative dual-robot systems (94 citations), addressed critical accuracy challenges in coordinated robotic motion by elegantly resolving hand-eye, robot-robot, and tool-flange relationships simultaneously. Equally impactful is his pioneering work on variable impedance control (VIC) for flexible-joint robots, including a minimally model-based trajectory tracking scheme (82 citations) and a passivity-preserving VIC approach (62 citations), which together have significantly advanced safe and adaptable physical human-robot interaction. His research extends to dynamic parameter identification using Lie theory (50 citations), bipedal locomotion and balancing, and novel mechanical design — exemplified by the Origaker, a metamorphic quadruped robot capable of mimicking reptile, arthropod, and mammal gaits (57 citations). With over 450 cumulative citations across his top works, Spyrakos-Papastavridis has established himself as a leading voice in compliant robotics, contributing theoretical rigor and practical innovation that continues to shape next-generation robot design and control.
Research Focus
Key Achievements
Top Papers
- 1
- 2
- 3Passivity Preservation for Variable Impedance Control of Compliant Robots62 citations · 2019
- 4
- 5
- 6
- 7
- 8
- 9Lyapunov Stability Margins for humanoid robot balancing16 citations · 2014
- 10Balance and impedance optimization control for COmpliant huMANoid stepping16 citations · 2016