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Associate ProfessorMinas Liarokapis

Honorary Academic

Mechanical and Mechatronics Engineering

Orcid identifier0000-0002-6016-1477
  • Honorary Academic
    Mechanical and Mechatronics Engineering
  • +6493737599 Ext.86688 (Work)
  • ENGINEERING BLOCK 5 - Bldg 405, 5 GRAFTON RD, AUCKLAND CENTRAL, AUCKLAND, 1010, New Zealand

TEACHING INTERESTS

Current Teaching:
MECHENG736 - Biomechatronic Systems (Role: Course Coordinator & Director \ Lecturer)

Years: 2017, 2018, 2019, 2020, 2021

Description:

Explores principles, methods and techniques of Mechatronics for analyzing, modelling, designing and controlling bioinspired robotic systems and biomechatronic systems.

Topics: 1) Introduction to Biomechatronics, 2) Biological Signals & Biosensors (e.g., EEG, EMG, ECG, Vision, Sound and haptic sensors etc.), 3) Human Motion Analysis (e.g., gait kinematics and kinetics analysis), 4) Bioinstrumentation (e.g., pneumatic muscles, IPMC, DEA, Hybrid actuators etc.), 5) Human Robot Interaction (e.g., human-robot interaction modelling, antagonistic configurations, direct force control, impedance and assist-as-needed control etc.), 6) Biomechatronic Example #1 (e.g., rehabilitation robots and assistive devices, design optimization, Integration of biosensors and actuators, interfacing issues etc.), 7) Biomechatronic Example #2 (e.g., biorobotic instrumentation, design and analysis of soft-bodied robotics).

MECHENG 201: Introduction to Mechatronics (Role: Course Director \ Lecturer Description)

Years: 2018, 2019, 2020, 2021

Description:

Introduces mechatronics to mechanical and mechatronics engineers. Covers sensors and actuators, analogue and digital circuit elements for signal processing and programming

MECHENG730 - Advanced Biomechatronic Systems (Role: Course Coordinator & Director \ Lecturer)

Years: 2017, 2018, 2019, 2020, 2021

Description:

The advanced version of MECHENG 736.

MECHENG201 - Electronics and Computing for Mechanical Engineers (Role: Lecturer)

Years: 2017

Description:

Mechanical engineers need to be familiar with those electronics and software elements that are now vital components of most mechanical products and processes. Introduces sensors and actuators, analogue and digital circuit elements for signal processing, and computing and software programming.

Postgraduate Supervision:
I have supervised to completion 3 PhD theses, 6 ME theses, 14 MEngSt projects, and the P4P of 42 undergraduate students.

Currently, I supervise 10 PhD thesis, 3 ME theses, and the P4P of 12 undergraduate students.

Alumni - PhD Students:

Lucas Gerez (2021)

Current Position: Postdoctoral Fellow at Harvard University (USA)

Anany Dwivedi (2021)

Current Position: Postdoctoral Associate at the Friedrich-Alexander-Universität Erlangen-Nürnberg (Germany)

Gal Gorjup (2021)

Current Position: Robotics Development Engineer, Airnamics (Slovenia)

Current PhD Students:

Geng Gao

Nathan Elangovan

Yongje Kwon

Che-Ming (Ben) Chang

Mojtaba Shahmohammadi

Jayden Chapman

Joao Pedro Sansao Buzzatto

Felipe Sanches

Ricardo de Godoy

Shaoqian Lin

Alumni - ME Students:

Jimmy Lin (2021)

Vandna Patel (2021)

Navin Perera (2021)

Arran Davis (2020)

Helen Evans (2019)

Varatharajan Srinivasan (2019)

Current ME Students:

Alex Hayashi

Dah Young Kim

Devin Mukalanyaye Ranasinghe

Alumni - MEngSt Students

Yuran Zhou (2021)

Nigel Sim Joon Leck (2020)

Kyaw Tun Ko (2020)

Rohit Joshua Rajasekar (2020)

Harsha Thiruvengadam (2019)

Junan Chen (2018)

Waris Hasan (2018)

Alexandre Eichene (2018)

Ashkan Eslamighane (2018)

Sai Sasanka Jupalli (2018)

Chi-Hung Yang (2018)

Shivang Pathak (2017)

Brahmaji Alla Rudhra (2017)

Pratik Sankh (2017)

Office Hours:
Please send me an email if you want to schedule a meeting with me.

TEACHING & SUPERVISION

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  • PHD OR SUB-DOCTORAL SUPERVISION OPPORTUNITY
    Design, Analysis, Modelling, and Development of Soft, Wearable Exoskeleton Gloves
    12 Jul 2020
    Enrolment information: NZ Citizens, NZ Permanent Residents, International Introduction Robotic exoskeletons have become a popular technological solution for assisting people that suffer from neurological conditions and for enhancing the capabilities of healthy individuals. This class of devices ranges from rigid and complex structures to soft, lightweight, wearable gloves. Despite the progress in the field, most existing devices do not provide the same dexterity as the healthy human hand. This project focuses on a new class of affordable, lightweight, robust, easy-to-operate exoskeleton gloves that can be developed with off-the-shelf materials and rapid prototyping techniques. What we are looking for in a successful applicant Programming experience (Matlab & C, C++ or Python) Background in robotics (desired) Solidworks or Creo experience (desired) Objectives Both body-powered and motorized exoskeleton gloves will be designed, analyzed, modelled and developed with the goal to enhance the grasping capabilities of their users, providing easiness and intuitiveness of operation and long autonomy with low maintenance and cost.
  • PHD OR SUB-DOCTORAL SUPERVISION OPPORTUNITY
    Augmented Reality based Humanlike Telemanipulation with Dual Robot Arm Hand Systems
    18 Jan 2018
    Enrolment information: NZ Citizens, NZ Permanent Residents, International Introduction In this project, we will focus on the formulation of advanced Augmented Reality based telemanipulation schemes for dual robot arm hand systems that will provide intuitive control to the user. The experimental setup that will be used, consists of two 6 DoF anthropomorphic robot arms (Universal Robots UR5 & UR10) and two underactuated and compliant robot hands designed by the New Dexterity research group - www.newdexterity.org (http://www.newdexterity.org/).  The human motion will be recorded by appropriate motion capture systems (e.g., Vicon, magnetic motion capture system) and it will be mapped to equivalent humanlike robot motion. The experiments that will be conducted will focus on the online execution of bimanual manipulation tasks that require increased dexterity.    An augmented reality framework will be used in order to increase the intuitiveness and efficiency of task execution during telemanipulation. What we are looking for in a successful applicant Programming experience (Matlab & C, C++ or Python) Background in robotics (desired) Solidworks or Creo experience (desired) Objectives To formulate telemanipulation schemes for robot arm hand systems that will provide intuitive control to the user.
  • PHD OR SUB-DOCTORAL SUPERVISION OPPORTUNITY
    Ultra-Fast Aerial Grasping with Adaptive Robot Hands
    18 Jan 2018
    Enrolment information: NZ Citizens, NZ Permanent Residents, International Introduction This project will focus on the development of adaptive robot hands for ultra-fast, aerial grasping and perching. To do so, we will investigate alternative uses of structural compliance for the development of under-actuated grasping mechanisms. The hand(s) will be affordable, extremely lightweight, robust to impacts with the environment and will be used for aerial platforms such as drones and autonomous helicopters. What we are looking for in a successful applicant Background in robotics or mechatronics (desired) Solidworks or Creo experience (desired) Objectives To develop adaptive robot hands for ultra-fast aerial grasping and perching.
  • PHD OR SUB-DOCTORAL SUPERVISION OPPORTUNITY
    Modelling, Analysis and Development of Adaptive Robotic and Prosthetic Hands
    18 Jan 2018
    Enrolment information: NZ Citizens, NZ Permanent Residents, International Introduction This project will focus on modelling, analysis and development of a new class of simple, adaptive robot hands for robust grasping and dexterous, in-hand manipulation. The designs will demonstrate the adaptive behaviour of compliant, under-actuated grippers and their superior grasping capabilities under uncertainties. In this project, we will also explore alternative uses of structural compliance for the development of grasping mechanisms. The devices will be fabricated using rapid prototyping techniques.   This project will be done in collaboration with the OpenBionics Initiative and will result in the creation of an open-source repository for the New Dexterity research group (www.newdexterity.org) robot hand designs. What we are looking for in a successful applicant Solidworks or Creo experience. Background in Robotics or Mechatronics. Objectives Modelling, analysis and development of a new class of simple, adaptive robot hands for robust grasping and dexterous, in-hand manipulation.
  • PHD OR SUB-DOCTORAL SUPERVISION OPPORTUNITY
    Blind Robot Grasping and Haptic Object Identification with Adaptive Hands
    18 Jan 2018
    Enrolment information: NZ Citizens, NZ Permanent Residents, International Introduction This project will focus on blind grasping and haptic object identification with adaptive hands. These goals will be achieved by formulating hybrid schemes that will leverage the benefits of simple, adaptive robot grippers (that can grasp successfully without prior knowledge of the hand or the object model), with simple sensors and advanced machine learning techniques. The applications of this project will be in the fields of industrial and warehouse automation, object quality and environment inspection. This project will take advantage of the robotic devices developed by the New Dexterity research group (www.newdexterity.org). What we are looking for in a successful applicant Programming experience.  Background in Robotics or Mechatronics.  Solidworks or Creo experience. Objectives To develop a complete methodology for blind grasping and haptic object identification with adaptive robot hands.
  • GENERAL SUPERVISION OPPORTUNITY
    Augmented Reality based Humanlike Telemanipulation with a Dual Robot Arm Hand System
    Enrolment information: NZ Citizens, NZ Permanent Residents, International Introduction In this project, we will focus on the formulation of a humanlike telemanipulation scheme for a dual robot arm hand system that will provide intuitive control to the user. The experimental setup that will be used, consists of two 6 DoF anthropomorphic robot arms (Universal Robots UR5 & UR10) and two underactuated and compliant robot hands designed by the New Dexterity research group - www.newdexterity.org (http://www.newdexterity.org/).  The human motion will be recorded by appropriate motion capture systems (e.g., Vicon, magnetic motion capture system) and it will be mapped to equivalent humanlike robot motion. The experiments that will be conducted will focus on the online execution of bimanual manipulation tasks that require increased dexterity.    An augmented reality framework will be used in order to increase the intuitiveness and efficiency of task execution during telemanipulation.
  • GENERAL SUPERVISION OPPORTUNITY
    Aerial Grasping with Ultra-Fast Grippers and Reconfigurable Drones
    Enrolment information: NZ Citizens, NZ Permanent Residents, International Introduction This project will focus on the development of ultra-fast adaptive robot grippers and reconfigurable drones for aerial grasping and perching. To do so, we will investigate alternative uses of structural compliance for the development of under-actuated grasping mechanisms. The devices will be affordable, extremely lightweight, robust to impacts with the environment and will be used for the development of aerial platforms capable of executing grasping, perching, and dexterous manipulation tasks.
  • GENERAL SUPERVISION OPPORTUNITY
    Development of Adaptive Robotic and Prosthetic Hands
    Enrolment information: NZ Citizens, NZ Permanent Residents, International Introduction This project will focus on the development of a new class of simple, adaptive robot hands for robust grasping and dexterous, in-hand manipulation. The designs will demonstrate the adaptive behaviour of compliant, under-actuated grippers and their superior grasping capabilities under uncertainties. In this project, we will also explore alternative uses of structural compliance for the development of grasping mechanisms. The devices will be fabricated using rapid prototyping techniques. This project will be done in collaboration with the OpenBionics Initiative and will result in the creation of an open-source repository for the New Dexterity research group (www.newdexterity.org) robot hand designs.
  • GENERAL SUPERVISION OPPORTUNITY
    Blind Robot Grasping and Haptic Object Identification with Adaptive Hands
    Enrolment information: NZ Citizens, NZ Permanent Residents, International Introduction This project will focus on blind grasping and haptic object identification with adaptive hands. These goals will be achieved by formulating hybrid schemes that will leverage the benefits of simple, adaptive robot grippers (that can grasp successfully without prior knowledge of the hand or the object model), with simple sensors and advanced machine learning techniques.   The applications of this project will be in the fields of industrial and warehouse automation, object quality and environment inspection. This project will take advantage of the robotic devices developed by the New Dexterity research group (www.newdexterity.org).