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Barron-Gonzalez H.,University of Sheffield | Porrill J.,University of Sheffield | Lepora N.F.,University of Sheffield | Chinellato E.,Imperial College London | And 2 more authors.
2013 World Haptics Conference, WHC 2013 | Year: 2013

This work aims to augment the capacities for haptic perception in the iCub robot to generate a controller for surface exploration. The main task involves moving the hand over an irregular surface with uncertain slope, by concurrently regulating the pressure of the contact. Providing this ability will enable the autonomous extraction of important haptic features, such as texture and shape. We propose a hand controller whose operational space is defined over the surface of contact. The surface is estimated using a robust probabilistic estimator, which is then used for path planning. The motor commands are generated using a feedback controller, taking advantage of the kinematic information available by proprioception. Finally, the effectiveness of this controller is extended using a cerebellar-like adapter that generates reliable pressure tracking over the finger and results in a trajectory with less vulnerability to perturbations. The results of this work are consistent with insights about the role of the cerebellum on haptic perception in humans. © 2013 IEEE.


Gomez S.C.,Northeastern University | Vona M.,Northeastern University | Kanoulas D.,Instituto Italiano Of Technologia
IEEE International Conference on Intelligent Robots and Systems | Year: 2015

This paper describes a novel foot for biped robots designed to provide a reliable and low-cost solution for sensing the Center of Pressure (CoP) on flat and uneven surfaces. The foot uses a new method for detecting contact forces based on measuring the deflection of three flexural toes using Hall-effect magnetic field sensors. We experimentally compare five mathematical models for calculating the CoP coordinates from the sensor data. Results confirm that with the proposed method it is possible to obtain the same level of accuracy and reliability as with standard force sensing resistors, but without some the drawbacks of that approach. © 2015 IEEE.


Bartczak D.,University of Southampton | Nitti S.,Instituto Italiano Of Technologia | Millar T.M.,University of Southampton | Kanaras A.G.,University of Southampton
Nanoscale | Year: 2012

We present the exocytosis profile of two types of peptide-coated nanoparticles, which have similar charge and size but different functionality. While one kind of particles appears to progressively exocytose, the other one has a more complex profile, suggesting that some of the particles are re-uptaken by the cells. Both types of particles retain their colloidal stability after exocytosis. This journal is © 2012 The Royal Society of Chemistry.


Shiguematsu Y.M.,Waseda University | Kryczka P.,Instituto Italiano Of Technologia | Hashimoto K.,Waseda University | Lim H.-O.,Waseda University | Takanishi A.,Waseda University
International Journal of Humanoid Robotics | Year: 2016

We propose a novel heel-contact toe-off walking pattern generator for a biped humanoid robot. It is divided in two stages: a simple model stage where a Linear Inverted Pendulum (LIP) based heel-contact toe-off walking model based on the so-called functional rockers of the foot (heel, ankle and forefoot rockers) is used to calculate step positions and timings, and the Center of Mass (CoM) trajectory taking step lengths as inputs, and a multibody dynamics model stage, where the final pattern to implement on the humanoid robot is obtained from the output of the first simple model stage. The final pattern comprises the Zero Moment Point (ZMP) reference, the joint angle references and the end effector references. The generated patterns were implemented on our robotic platform, WABIAN-2R to evaluate the generated walking patterns. © 2016 World Scientific Publishing Company.


Migliardi M.,University of Padua | Gaudina M.,Instituto Italiano Of Technologia
Proceedings - 6th International Conference on Innovative Mobile and Internet Services in Ubiquitous Computing, IMIS 2012 | Year: 2012

The 4W (What-Where-When-Who)project has demonstrated that the combination of rich content delivering devices, such as smart phones, together wireless broadband networking and server side computational power can be used to seamlessly weave a mesh of smart services and intelligent environments providing support to human memory capabilities. Our system is capable of capturing user needs and to-dos, infer where those needs and tasks can be efficiently fulfilled/performed and provide timely and localized hints about the identified sweet spots. However, to perform this task an efficient way of classifying user provided needs and to-dos is necessary. In this paper we describe how we leveraged a social-network like approach to populate and enrich our classification engine in a user-controlled, cooperative way. © 2012 IEEE.

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