2025
Coarse-to-Fine Robotic Pushing Using Touch, Vision and Proprioception.
IEEE Robotics Autom. Lett., February, 2025
Design and Benchmarking of A Multi-Modality Sensor for Robotic Manipulation with GAN-Based Cross-Modality Interpretation.
CoRR, January, 2025
Design and Benchmarking of a Multimodality Sensor for Robotic Manipulation With GAN-Based Cross-Modality Interpretation.
IEEE Trans. Robotics, 2025
Integrating Human-Like Impedance Regulation and Model-Based Approaches for Compliance Discrimination via Biomimetic Optical Tactile Sensors.
IEEE Trans. Robotics, 2025
2024
BioTacTip: A Soft Biomimetic Optical Tactile Sensor for Efficient 3D Contact Localization and 3D Force Estimation.
IEEE Robotics Autom. Lett., June, 2024
TouchSDF: A DeepSDF Approach for 3D Shape Reconstruction Using Vision-Based Tactile Sensing.
IEEE Robotics Autom. Lett., June, 2024
A Lightweight and Affordable Wearable Haptic Controller for Robot-Assisted Microsurgery.
Sensors, May, 2024
One-Shot Domain-Adaptive Imitation Learning via Progressive Learning Applied to Robotic Pouring.
IEEE Trans Autom. Sci. Eng., January, 2024
The future lies in a pair of tactile hands.
Sci. Robotics, 2024
Tactile control for object tracking and dynamic contour following.
Robotics Auton. Syst., 2024
Pose-and-shear-based tactile servoing.
Int. J. Robotics Res., 2024
TacPalm: A Soft Gripper with a Biomimetic Optical Tactile Palm for Stable Precise Grasping.
CoRR, 2024
Tactile SoftHand-A: 3D-Printed, Tactile, Highly-underactuated, Anthropomorphic Robot Hand with an Antagonistic Tendon Mechanism.
CoRR, 2024
AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touch.
CoRR, 2024
DexiTac: Soft Dexterous Tactile Gripping.
CoRR, 2024
Snap-it, Tap-it, Splat-it: Tactile-Informed 3D Gaussian Splatting for Reconstructing Challenging Surfaces.
CoRR, 2024
Softness Prediction with a Soft Biomimetic Optical Tactile Sensor.
Proceedings of the 7th IEEE International Conference on Soft Robotics, 2024
Efficient Tactile Sensing-based Learning from Limited Real-world Demonstrations for Dual-arm Fine Pinch-Grasp Skills.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024
ViTacTip: Design and Verification of a Novel Biomimetic Physical Vision-Tactile Fusion Sensor.
Proceedings of the IEEE International Conference on Robotics and Automation, 2024
TacShade: A New 3D-printed Soft Optical Tactile Sensor Based on Light, Shadow and Greyscale for Shape Reconstruction.
Proceedings of the IEEE International Conference on Robotics and Automation, 2024
Self-Supervised Bayesian Visual Imitation Learning Applied to Robotic Pouring.
Proceedings of the IEEE International Conference on Industrial Technology, 2024
BrainSLAM: SLAM on Neural Population Activity Data.
Proceedings of the 23rd International Conference on Autonomous Agents and Multiagent Systems, 2024
2023
Digital Twin-Driven Mixed Reality Framework for Immersive Teleoperation With Haptic Rendering.
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IEEE Robotics Autom. Lett., December, 2023
Model-Based Compliance Discrimination via Soft Tactile Optical Sensing and Optical Flow Computation: A Biomimetic Approach.
IEEE Robotics Autom. Lett., October, 2023
Sim-to-Real Model-Based and Model-Free Deep Reinforcement Learning for Tactile Pushing.
IEEE Robotics Autom. Lett., September, 2023
Visual-Tactile Robot Grasping Based on Human Skill Learning From Demonstrations Using a Wearable Parallel Hand Exoskeleton.
IEEE Robotics Autom. Lett., September, 2023
Bi-Touch: Bimanual Tactile Manipulation With Sim-to-Real Deep Reinforcement Learning.
IEEE Robotics Autom. Lett., September, 2023
TacMMs: Tactile Mobile Manipulators for Warehouse Automation.
IEEE Robotics Autom. Lett., 2023
Learning Fine Pinch-Grasp Skills using Tactile Sensing from Real Demonstration Data.
CoRR, 2023
A pose and shear-based tactile robotic system for object tracking, surface following and object pushing.
CoRR, 2023
An Overview of Robotic Grippers.
CoRR, 2023
Attention for Robot Touch: Tactile Saliency Prediction for Robust Sim-to-Real Tactile Control.
IROS, 2023
Incipient Slip Detection with a Biomimetic Skin Morphology.
IROS, 2023
Tactile-Driven Gentle Grasping for Human-Robot Collaborative Tasks.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023
Tac-VGNN: A Voronoi Graph Neural Network for Pose-Based Tactile Servoing.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023
2022
Goal-Driven Robotic Pushing Using Tactile and Proprioceptive Feedback.
IEEE Trans. Robotics, 2022
Neuromorphic Tactile Edge Orientation Classification in an Unsupervised Spiking Neural Network.
Sensors, 2022
Biomimetic Perception, Cognition, and Control: From Nature to Robots [From the Guest Editors].
IEEE Robotics Autom. Mag., 2022
Tactile Gym 2.0: Sim-to-Real Deep Reinforcement Learning for Comparing Low-Cost High-Resolution Robot Touch.
IEEE Robotics Autom. Lett., 2022
BRL/Pisa/IIT SoftHand: A Low-Cost, 3D-Printed, Underactuated, Tendon-Driven Hand With Soft and Adaptive Synergies.
IEEE Robotics Autom. Lett., 2022
DigiTac: A DIGIT-TacTip Hybrid Tactile Sensor for Comparing Low-Cost High-Resolution Robot Touch.
IEEE Robotics Autom. Lett., 2022
Mapping Mid-Air Haptics With a Low-Cost Tactile Robot.
IEEE Robotics Autom. Lett., 2022
What deep reinforcement learning tells us about human motor learning and vice-versa.
CoRR, 2022
One-Shot Domain-Adaptive Imitation Learning via Progressive Learning.
CoRR, 2022
Artificial SA-I, RA-I and RA-II/Vibrotactile Afferents for Tactile Sensing of Texture.
CoRR, 2022
Active Inference for Artificial Touch: A Biologically-Plausible Tactile Control Method.
Proceedings of the Biomimetic and Biohybrid Systems - 11th International Conference, 2022
Semi-Supervised Disentanglement of Tactile Contact Geometry from Sliding-Induced Shear.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022
Graph Neural Networks for Interpretable Tactile Sensing.
Proceedings of the 27th International Conference on Automation and Computing, 2022
2021
Slip Detection for Grasp Stabilization With a Multifingered Tactile Robot Hand.
IEEE Trans. Robotics, 2021
Pose-Based Tactile Servoing: Controlled Soft Touch Using Deep Learning.
IEEE Robotics Autom. Mag., 2021
A Robust Controller for Stable 3D Pinching Using Tactile Sensing.
IEEE Robotics Autom. Lett., 2021
Editorial: ViTac: Integrating Vision and Touch for Multimodal and Cross-Modal Perception.
Frontiers Robotics AI, 2021
Learning offline: memory replay in biological and artificial reinforcement learning.
CoRR, 2021
Artificial SA-I and RA-I Afferentsfor Tactile Sensing of Ridges and Gratings.
CoRR, 2021
Optical Tactile Sim-to-Real Policy Transfer via Real-to-Sim Tactile Image Translation.
CoRR, 2021
Soft Biomimetic Optical Tactile Sensing with the TacTip: A Review.
CoRR, 2021
Probabilistic Discriminative Models address the Tactile Perceptual Aliasing Problem.
Proceedings of the Robotics: Science and Systems XVII, Virtual Event, July 12-16, 2021., 2021
Uncertainty-aware deep learning for robot touch: Application to Bayesian tactile servo control.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021
Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021
Species-specific whisker morphology affects tactile interactions.
Proceedings of the IEEE World Haptics Conference, 2021
Tactile Image-to-Image Disentanglement of Contact Geometry from Motion-Induced Shear.
Proceedings of the Conference on Robot Learning, 8-11 November 2021, London, UK., 2021
Tactile Sim-to-Real Policy Transfer via Real-to-Sim Image Translation.
Proceedings of the Conference on Robot Learning, 8-11 November 2021, London, UK., 2021
2020
Optimal Deep Learning for Robot Touch: Training Accurate Pose Models of 3D Surfaces and Edges.
IEEE Robotics Autom. Mag., 2020
Deep Reinforcement Learning for Tactile Robotics: Learning to Type on a Braille Keyboard.
IEEE Robotics Autom. Lett., 2020
Pose-Based Servo Control with Soft Tactile Sensing.
CoRR, 2020
Spatio-temporal encoding improves neuromorphic tactile texture classification.
CoRR, 2020
Slip detection for grasp stabilisation with a multi-fingered tactile robot hand.
CoRR, 2020
Optimal Deep Learning for Robot Touch.
CoRR, 2020
A Miniaturised Neuromorphic Tactile Sensor integrated with an Anthropomorphic Robot Hand.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020
Walking on TacTip toes: A tactile sensing foot for walking robots.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020
Learning to Live Life on the Edge: Online Learning for Data-Efficient Tactile Contour Following.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020
A Biomimetic Tactile Fingerprint Induces Incipient Slip.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020
NeuroTac: A Neuromorphic Optical Tactile Sensor applied to Texture Recognition.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020
Sim-to-Real Transfer for Optical Tactile Sensing.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020
Sensing Ultrasonic Mid-Air Haptics with a Biomimetic Tactile Fingertip.
Proceedings of the Haptics: Science, Technology, Applications, 2020
2019
Guest Editorial Special Issue on Active Perception for Industrial Intelligence.
IEEE Trans Autom. Sci. Eng., 2019
Convolutional Autoencoder for Feature Extraction in Tactile Sensing.
IEEE Robotics Autom. Lett., 2019
A Sense of Touch for the Shadow Modular Grasper.
IEEE Robotics Autom. Lett., 2019
From Pixels to Percepts: Highly Robust Edge Perception and Contour Following Using Deep Learning and an Optical Biomimetic Tactile Sensor.
IEEE Robotics Autom. Lett., 2019
Tactile Model O: Fabrication and testing of a 3d-printed, three-fingered tactile robot hand.
CoRR, 2019
Shear-invariant Sliding Contact Perception with a Soft Tactile Sensor.
Proceedings of the International Conference on Robotics and Automation, 2019
2018
Dual-Modal Tactile Perception and Exploration.
IEEE Robotics Autom. Lett., 2018
Slip Detection With a Biomimetic Tactile Sensor.
IEEE Robotics Autom. Lett., 2018
MultiTip: A multimodal mechano-thermal soft fingertip.
Proceedings of the IEEE International Conference on Soft Robotics, 2018
Texture Perception with a Biomimetic Optical Tactile Sensor.
Proceedings of the Biomimetic and Biohybrid Systems - 7th International Conference, 2018
Active Touch with a Biomimetic 3D-Printed Whiskered Robot.
Proceedings of the Biomimetic and Biohybrid Systems - 7th International Conference, 2018
Slip Detection on Natural Objects with a Biomimetic Tactile Sensor.
Proceedings of the Biomimetic and Biohybrid Systems - 7th International Conference, 2018
TacWhiskers: Biomimetic Optical Tactile Whiskered Robots.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018
Voronoi Features for Tactile Sensing: Direct Inference of Pressure, Shear, and Contact Locations.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018
Principal Components of Touch.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018
2017
Active sensorimotor control for tactile exploration.
Robotics Auton. Syst., 2017
Model-Free Precise in-Hand Manipulation with a 3D-Printed Tactile Gripper.
IEEE Robotics Autom. Lett., 2017
Exploiting Sensor Symmetry for Generalized Tactile Perception in Biomimetic Touch.
IEEE Robotics Autom. Lett., 2017
Exploratory Tactile Servoing With Active Touch.
IEEE Robotics Autom. Lett., 2017
Addition of a Biomimetic Fingerprint on an Artificial Fingertip Enhances Tactile Spatial Acuity.
IEEE Robotics Autom. Lett., 2017
Object exploration using vision and active touch.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017
2016
Biology to Technology in Active Touch Sensing - Introduction to the Special Section.
IEEE Trans. Haptics, 2016
Biomimetic Active Touch with Fingertips and Whiskers.
IEEE Trans. Haptics, 2016
Tactile Manipulation With a TacThumb Integrated on the Open-Hand M2 Gripper.
IEEE Robotics Autom. Lett., 2016
Tactile Quality Control With Biomimetic Active Touch.
IEEE Robotics Autom. Lett., 2016
Threshold Learning for Optimal Decision Making.
Proceedings of the Advances in Neural Information Processing Systems 29: Annual Conference on Neural Information Processing Systems 2016, 2016
Exploiting Symmetry to Generalize Biomimetic Touch.
Proceedings of the Biomimetic and Biohybrid Systems - 5th International Conference, 2016
Discrimination-Based Perception for Robot Touch.
Proceedings of the Biomimetic and Biohybrid Systems - 5th International Conference, 2016
Tactile Exploration by Contour Following Using a Biomimetic Fingertip.
Proceedings of the Biomimetic and Biohybrid Systems - 5th International Conference, 2016
Force Sensing with a Biomimetic Fingertip.
Proceedings of the Biomimetic and Biohybrid Systems - 5th International Conference, 2016
A Biomimetic Fingerprint Improves Spatial Tactile Perception.
Proceedings of the Biomimetic and Biohybrid Systems - 5th International Conference, 2016
Gaussian Process Regression for a Biomimetic Tactile Sensor.
Proceedings of the Biomimetic and Biohybrid Systems - 5th International Conference, 2016
Tactile manipulation with biomimetic active touch.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016
2015
Tactile Superresolution and Biomimetic Hyperacuity.
IEEE Trans. Robotics, 2015
Active tactile perception.
Scholarpedia, 2015
Embodied Choice: How Action Influences Perceptual Decision Making.
PLoS Comput. Biol., 2015
Active Control for Object Perception and Exploration with a Robotic Hand.
Proceedings of the Biomimetic and Biohybrid Systems - 4th International Conference, 2015
Superresolution with an optical tactile sensor.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015
Active haptic shape recognition by intrinsic motivation with a robot hand.
Proceedings of the 2015 IEEE World Haptics Conference, 2015
2013
Active Bayesian Perception for Simultaneous Object Localization and Identification.
Proceedings of the Robotics: Science and Systems IX, Technische Universität Berlin, Berlin, Germany, June 24, 2013
Angle and Position Perception for Exploration with Active Touch.
Proceedings of the Biomimetic and Biohybrid Systems, 2013
Towards a Roadmap for Living Machines.
Proceedings of the Biomimetic and Biohybrid Systems, 2013
A SOLID Case for Active Bayesian Perception in Robot Touch.
Proceedings of the Biomimetic and Biohybrid Systems, 2013
Active Bayesian perception for angle and position discrimination with a biomimetic fingertip.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013
Active Bayesian perception and reinforcement learning.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013
Active touch for robust perception under position uncertainty.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013
Active contour following to explore object shape with robot touch.
Proceedings of the 2013 World Haptics Conference, 2013
Cerebellum-based adaptation for fine haptic control over the space of uncertain surfaces.
Proceedings of the 2013 World Haptics Conference, 2013
Action Discovery and Intrinsic Motivation: A Biologically Constrained Formalisation.
Proceedings of the Intrinsically Motivated Learning in Natural and Artificial Systems, 2013
2012
The Basal Ganglia Optimize Decision Making over General Perceptual Hypotheses.
Neural Comput., 2012
Efficient fitting of conductance-based model neurons from somatic current clamp.
J. Comput. Neurosci., 2012
The effect of whisker movement on radial distance estimation: a case study in comparative robotics.
Frontiers Neurorobotics, 2012
Towards Contour Following Exploration Based on Tactile Sensing with the iCub Fingertip.
Proceedings of the Advances in Autonomous Robotics, 2012
Texture Classification through Tactile Sensing.
Proceedings of the Biomimetic and Biohybrid Systems - First International Conference, 2012
The State-of-the-Art in Biomimetics.
Proceedings of the Biomimetic and Biohybrid Systems - First International Conference, 2012
Towards a Framework for Tactile Perception in Social Robotics.
Proceedings of the Biomimetic and Biohybrid Systems - First International Conference, 2012
Embodied hyperacuity from Bayesian perception: Shape and position discrimination with an iCub fingertip sensor.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012
Whiskered texture classification with uncertain contact pose geometry.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012
Brain-inspired Bayesian perception for biomimetic robot touch.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012
2011
Sensing with Artificial Tactile Sensors: An Investigation of Spatio-temporal Inference.
Proceedings of the Towards Autonomous Robotic Systems - 12th Annual Conference, 2011
A General Classifier of Whisker Data Using Stationary Naive Bayes: Application to BIOTACT Robots.
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Proceedings of the Towards Autonomous Robotic Systems - 12th Annual Conference, 2011
CrunchBot: A Mobile Whiskered Robot Platform.
Proceedings of the Towards Autonomous Robotic Systems - 12th Annual Conference, 2011
2010
Nonlinear Dynamic Modeling of Isometric Force Production in Primate Eye Muscle.
IEEE Trans. Biomed. Eng., 2010
Sensory Prediction or Motor Control? Application of Marr-Albus Type Models of Cerebellar Function to Classical Conditioning.
Frontiers Comput. Neurosci., 2010
Naive Bayes novelty detection for a moving robot with whiskers.
Proceedings of the 2010 IEEE International Conference on Robotics and Biomimetics, 2010
Whisker-object contact speed affects radial distance estimation.
Proceedings of the 2010 IEEE International Conference on Robotics and Biomimetics, 2010
Naive Bayes texture classification applied to whisker data from a moving robot.
Proceedings of the International Joint Conference on Neural Networks, 2010
2009
Capturing dopaminergic modulation and bimodal membrane behaviour of striatal medium spiny neurons in accurate, reduced models.
Frontiers Comput. Neurosci., 2009
2007
Response linearity determined by recruitment strategy in detailed model of nictitating membrane control.
Biol. Cybern., 2007