Papers
13
Total Citations
172
H-Index
9
About
Stylianos Piperakis is a leading researcher in humanoid robotics, whose work focuses on the critical challenge of enabling stable, dynamic, and autonomous locomotion. His primary contributions lie in nonlinear state estimation, contact detection, and sensor fusion for humanoid walking. He developed the SEROW framework (39 citations), a novel cascade state estimator that fuses joint encoders, inertial data, foot pressure, and visual odometry for robust 3D center-of-mass estimation. Piperakis also pioneered an unsupervised method for gait phase estimation (20 citations), moving beyond the common assumption of known foot contact status. His work extends to learning from demonstration for human-robot collaboration (16 citations) and outlier-robust state estimation using visual and LiDAR sensors (12 citations). More recently, he has advanced visual SLAM for humanoids with reconfigurable system-on-chip architectures (11 citations) and dense RGB-D mapping (10 citations). His research is highly cited and directly addresses the practical hurdles of deploying humanoid robots in dynamic, real-world environments, making him a key figure in the field of autonomous robotic locomotion.
Research Focus
Key Achievements
Top Papers
- 1Nonlinear State Estimation for Humanoid Robot Walking39 citations · 2018
- 2Non-linear ZMP based state estimation for humanoid robot locomotion20 citations · 2016
- 3Unsupervised Gait Phase Estimation for Humanoid Robot Walking20 citations · 2019
- 4
- 5Predictive control for dynamic locomotion of real humanoid robots14 citations · 2014
- 6
- 7Outlier-Robust State Estimation for Humanoid Robots12 citations · 2019
- 8
- 9roboSLAM: Dense RGB-D SLAM for Humanoid Robots10 citations · 2021
- 10Robust Contact State Estimation in Humanoid Walking Gaits9 citations · 2022