Recent approaches in robot perception follow the insight that perception is facilitated by
interaction with the environment. These approaches are subsumed under the term …

Simulation is essential for different robotic research fields such as mobile robotics, motion
planning and grasp planning. For grasping in particular, there are no software simulation …

This article describes the hardware design of the iCub humanoid robot. The iCub is an open-
source humanoid robotic platform designed explicitly to support research in embodied …

A robot's head is important both for directional sensors and, in human-directed robotics, as
the single most visible interaction interface. However, designing a robot's head faces …

We consider the problem of grasp and manipulation planning when the state of the world is
only partially observable. Specifically, we address the task of picking up unknown objects …

With contributions from prominent scientists, this volume presents a scientific understanding
of humans with a view towards developing better-engineered systems and machines for …

Facing and pointing toward moving targets is a usual and natural behavior in daily life.
Social robots should be able to display such coordinated behaviors in order to interact …

We present the mechatronic design of the next generation of our humanoid robots, the
humanoid robot ARMAR-4, a full body torque controlled humanoid robot with 63 active …

In order to explore and understand the surrounding environment in an efficient manner,
humans have developed a set of space-variant vision mechanisms that allow them to …

This paper presents a multi-sensor humanoid robotic head for human robot interaction. The
design of the robotic head, Muecas, is based on ongoing research on the mechanisms of …