Tactile sensing is a key sensor modality for robots interacting with their surroundings. These
sensors provide a rich and diverse set of data signals that contain detailed information …

Dexterous robotic manipulation of unknown objects can open the way to novel tasks and
applications of robots in semi-structured and unstructured settings, from advanced industrial …

Tactile servoing is an effective approach to enabling robots to safely interact with unknown
environments. One of the core problems in tactile servoing is to robustly converge the …

For the last four decades, the development of robotic hands has been the focus of several
works. However, a small part of those approaches consider the exploitation of parallelism of …

This paper proposes an object modeling and grasping pipeline for humanoid robots. This
work improves our previous approach based on superquadric functions. In particular, we …

We live in a constantly changing world. For robots to fully operate in our world, they need to
work in dynamic environments where objects are not fixed in place or may be moved by …

Research on tactile sensing has been progressing at constant pace. In robotics, tactile
sensing is typically studied in the context of object grasping and manipulation. In this …

In this chapter we describe the history and evolution of the iCub humanoid platform. We start
by describing the first version as it was designed during the RobotCub EU project and …

In this paper we propose a novel method for in-hand object recognition. The method is
composed of a grasp stabilization controller and two exploratory behaviours to capture the …

Tactile sensing represents a valuable source of information in robotics for perception of the
state of objects and their properties. Modern soft tactile sensors allow perceiving orthogonal …