A5090032106- Robot Manipulation and Learning
- Robotic Locomotion and Control
- Social Robot Interaction and HRI
- Tactile and Sensory Interactions
- Advanced Sensor and Energy Harvesting Materials
- Action Observation and Synchronization
- Prosthetics and Rehabilitation Robotics
- Muscle activation and electromyography studies
- Robotics and Automated Systems
- Motor Control and Adaptation
- Child and Animal Learning Development
- Reinforcement Learning in Robotics
- Human Pose and Action Recognition
- Embodied and Extended Cognition
- Face Recognition and Perception
- Robotic Mechanisms and Dynamics
- Advanced Vision and Imaging
- Neural dynamics and brain function
- Modular Robots and Swarm Intelligence
- Advanced Image and Video Retrieval Techniques
- Robotic Path Planning Algorithms
- Multimodal Machine Learning Applications
- Gaze Tracking and Assistive Technology
- Domain Adaptation and Few-Shot Learning
- EEG and Brain-Computer Interfaces
Italian Institute of Technology
2014-2024
University of Plymouth
2013-2019
Institute of Electrical and Electronics Engineers
2019
Gorgias Press (United States)
2019
Vrije Universiteit Brussel
2019
Danieli (Italy)
2018
Luleå University of Technology
2018
University of Technology - Iraq
2018
IIT@MIT
2004-2017
Lira Hospital
2008-2014
Starting from human ¿sense of touch,¿ this paper reviews the state tactile sensing in robotics. The physiology, coding, and transferring data perceptual importance touch¿ humans are discussed. Following this, a number design hints derived for robotic presented. Various technologies transduction methods used to improve touch sense capability robots Tactile sensing, focused fingertips hands until past decade or so, has now been extended whole body, even though many issues remain open. Trend...
We describe YARP, Yet Another Robot Platform, an open-source project that encapsulates lessons from our experience in building humanoid robots. The goal of YARP is to minimize the effort devoted infrastructure-level software development by facilitating code reuse, modularity and so maximize research-level collaboration. Humanoid robotics a “bleeding edge” field research, with constant flux sensors, actuators, processors. Code reuse maintenance therefore significant challenge. main problems...
Developmental robotics is an emerging field located at the intersection of robotics, cognitive science and developmental sciences. This paper elucidates main reasons key motivations behind convergence fields with seemingly disparate interests, shows why might prove to be beneficial for all involved. The methodology advocated synthetic two-pronged: on one hand, it employs robots instantiate models originating from sciences; other aims develop better robotic systems by exploiting insights...
We report about the iCub, a humanoid robot for research in embodied cognition. At 104 cm tall, iCub has size of three and half year old child. It will be able to crawl on all fours sit up manipulate objects. Its hands have been designed support sophisticate manipulation skills. The is distributed as Open Source following GPL/FDL licenses. entire design available download from project homepage repository (http://www.robotcub.org). In following, we concentrate description hardware software...
Even though the sense of touch is crucial for humans, most humanoid robots lack tactile sensing. While a large number sensing technologies exist, it not trivial to incorporate them into robot. We have developed compliant "skin" humanoids that integrates distributed pressure sensor based on capacitive technology. The skin modular and can be deployed nonflat surfaces. Each module scans locally limited tactile-sensing elements sends data through serial bus. This critical advantage as reduces...
This survey presents an overview of the autonomous development mental capabilities in computational agents. It does so based on a characterization cognitive systems as which exhibit adaptive, anticipatory, and purposive goal-directed behavior. We present broad various paradigms cognition, addressing cognitivist (physical symbol systems) approaches, emergent encompassing connectionist, dynamical, enactive systems, also efforts to combine two hybrid systems. then review several architectures...
Capacitive technology allows building sensors that are small, compact and have high sensitivity. For this reason it has been widely adopted in robotics. In a previous work we presented compliant skin system based on capacitive consisting of triangular modules interconnected to form can be deployed non-flat surfaces. This solution successfully cover various humanoid robots. The main limitation all the approaches is they require embed deformable dielectric layer (usually made using an...
We present an avatar system designed to facilitate the embodiment of humanoid robots by human operators, validated through iCub3, a developed at Istituto Italiano di Tecnologia. More precisely, paper makes two contributions: First, we iCub3 as robotic that integrates latest significant improvements after about 15 years development iCub series. Second, versatile enabling humans embody encompassing aspects such locomotion, manipulation, voice, and facial expressions with comprehensive sensory...
The development of robotic cognition and the advancement understanding human form two current greatest challenges in robotics neuroscience, respectively. RobotCub project aims to develop an embodied child (iCub) with physical (height 90 cm mass less than 23 kg) ultimately cognitive abilities a 2.5-year-old child. iCub will be freely available open system which can used by scientists all cognate disciplines from developmental psychology epigenetic enhance systems through study development....
A novel artificial skin for covering the whole body of a humanoid robot is presented. It provides pressure measurements and shape information about contact surfaces between environment. The system based on mesh sensors interconnected in order to form networked structure. Each sensor has 12 capacitive taxels, triangular supported by flexible substrate conform smooth curved surfaces. Three communications ports placed along sides each allow with adjacent sensors. tactile are sent embed...
Within the field of Neuro Robotics we are driven primarily by desire to understand how humans and animals live grow solve every day's problems. To this aim adopted a "learn doing" approach building artificial systems, e.g. robots that not only look like human beings but also represent model some brain process. They should, ideally, behave interact (being situated). The main emphasis in robotics has been on systems act as reaction an external stimulus (e.g. tracking, reaching), rather than...
Vision and manipulation are inextricably intertwined in the primate brain. Tantalizing results from neuroscience shedding light on mixed motor sensory representations used by brain during reaching, grasping, object recognition. We now know a great deal about what happens these activities, but not necessarily why. Is integration we see functionally important, or just reflection of evolution's lack enthusiasm for sharp modularity? wish to instantiate robotic form probe technical advantages...
In this paper we describe the design of a Cartesian Controller for generic robot manipulator. We address some challenges that are typically encountered in field humanoid robotics. The solution propose deals with large number degrees freedom, produce smooth, human-like motion and is able to compute trajectory on-line. support idea significant advancements robotics it important compare different approaches not only at theoretical level but also implementation level. For reason test our...
This paper describes the design of a robot head, developed in framework RobotCub project. project goals consists on and construction humanoid robotic platform, iCub, for studying human cognition. The final platform would be approximately 90 cm tall, with 23 kg total number 53 degrees freedom. For its size, iCub is most complete currently being designed, terms kinematic complexity. eyes can also move, as opposed to similarly sized platforms. Specifications are made based biological anatomical...
This paper presents the prototype of a new computer simulator for humanoid robot iCub. The iCub is open-source developed as result "RobotCub" project, collaborative European project aiming at developing cognitive robotics platform. has been part joint effort with "ITALK" on integration and transfer action language knowledge in robots. available to all researchers interested experiments
This work presents piezoelectric oxide semiconductor field effect transistor (POSFET) based touch sensing devices. These devices are fabricated by spin coating thin (∼2.5 μm) polymer film directly on to the gate area of metal (MOS) transistor. The is processed in situ and challenging issues such as poling film, without damaging or altering characteristics underlying MOS devices, successfully dealt with. POSFET device represents an integral “sensotronic” unit comprising transducer...
This position paper proposes that the study of embodied cognitive agents, such as humanoid robots, can advance our understanding development complex sensorimotor, linguistic, and social learning skills. in turn will benefit design robots capable to handle manipulate objects tools autonomously, cooperate communicate with other humans, adapt their abilities changing internal, environmental, conditions. Four key areas research challenges are discussed, specifically for issues related of: 1) how...
This paper presents the research on tactile sensing system chip. The chips comprise of 5 × array Piezoelectric Oxide Semiconductor Field Effect Transistor (POSFET) devices and temperature sensors. POSFET are obtained by spin coating piezoelectric polymer, poly(vinylidene fluoride-trifluoroethylene) (P(VDF-TrFE)), films directly to gate area Metal (MOS) transistors. able measure dynamic contact forces temperatures. readout data acquisition acquire signals also presented. have been extensively...
This paper describes the design and realization of novel tactile sensors based on soft materials magnetic sensing. In particular, goal was to realize: 1) soft; 2) robust; 3) small; 4) low-cost that can be easily fabricated integrated robotic devices interact with environment. We targeted a number desired features, most important being: high sensitivity; low hysteresis; repeatability. The sensor consists silicone body in which small magnet is immersed; an Hall-effect placed below measures...
Abstract Stretchable capacitive devices are instrumental for new‐generation multifunctional haptic technologies particularly suited soft robotics and electronic skin applications. A majority of elongating electronics still rely on silicone building or sensors by multiple‐step replication. In this study, fabrication a reliable parallel‐plate touch sensor, using nitrile rubber gloves as templates, is demonstrated. Spray coating both sides piece cut out glove with conductive polymer suspension...
The ability of computing a quality index for given configurations can be useful several applications in the context robotic manipulation. E.g. it used monitoring current state system or support decision processes, such as grasp selection humanoid robotics. Here, large set precomputed grasps object have to quickly filtered order select reachable sub set, which inverse kinematics (IK) problem has solved. In this work, we present an approach analyzing workspace capabilities manipulator store...