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2020 – today
- 2025
[j55]Bowen Deng
, Yijiong Lin, Max Yang, Nathan F. Lepora:
Coarse-to-Fine Robotic Pushing Using Touch, Vision and Proprioception. IEEE Robotics Autom. Lett. 10(2): 1545-1552 (2025)- [j54]Giulia Pagnanelli, Lucia Zinelli, Nathan F. Lepora, Manuel G. Catalano, Antonio Bicchi, Matteo Bianchi:
Integrating Human-Like Impedance Regulation and Model-Based Approaches for Compliance Discrimination via Biomimetic Optical Tactile Sensors. IEEE Trans. Robotics 41: 857-870 (2025) - [j53]Dandan Zhang, Wen Fan, Jialin Lin, Haoran Li, Qingzheng Cong, Weiru Liu, Nathan F. Lepora, Shan Luo:
Design and Benchmarking of a Multimodality Sensor for Robotic Manipulation With GAN-Based Cross-Modality Interpretation. IEEE Trans. Robotics 41: 1278-1295 (2025) - [j52]Mark Yim, Shan Luo, Nathan F. Lepora, Wenzhen Yuan, Kaspar Althoefer, Gordon Cheng, Julio Rogelio Guadarrama-Olvera, Ravinder Dahiya:
Guest EditorialSpecial Collection on Tactile Robotics. IEEE Trans. Robotics 41: ii-iii (2025) - [i55]Dandan Zhang, Wen Fan, Jialin Lin, Haoran Li, Qingzheng Cong, Weiru Liu, Nathan F. Lepora, Shan Luo:
Design and Benchmarking of A Multi-Modality Sensor for Robotic Manipulation with GAN-Based Cross-Modality Interpretation. CoRR abs/2501.02303 (2025) - 2024
- [j51]John Lloyd, Nathan F. Lepora:
Pose-and-shear-based tactile servoing. Int. J. Robotics Res. 43(7): 1024-1055 (2024) - [j50]Haoran Li, Saekwang Nam, Zhenyu Lu, Chenguang Yang, Efi Psomopoulou, Nathan F. Lepora:
BioTacTip: A Soft Biomimetic Optical Tactile Sensor for Efficient 3D Contact Localization and 3D Force Estimation. IEEE Robotics Autom. Lett. 9(6): 5314-5321 (2024) - [j49]Mauro Comi, Yijiong Lin, Alex Church, Alessio Tonioni, Laurence Aitchison, Nathan F. Lepora:
TouchSDF: A DeepSDF Approach for 3D Shape Reconstruction Using Vision-Based Tactile Sensing. IEEE Robotics Autom. Lett. 9(6): 5719-5726 (2024) - [j48]Kirsty Aquilina, David A. W. Barton, Nathan F. Lepora:
Tactile control for object tracking and dynamic contour following. Robotics Auton. Syst. 178: 104710 (2024) - [j47]Nathan F. Lepora:
The future lies in a pair of tactile hands. Sci. Robotics 9(91) (2024) - [j46]Xiaoqing Guo, Finn McFall, Peiyang Jiang, Jindong Liu, Nathan F. Lepora, Dandan Zhang:
A Lightweight and Affordable Wearable Haptic Controller for Robot-Assisted Microsurgery. Sensors 24(9): 2676 (2024) - [j45]Dandan Zhang, Wen Fan, John Lloyd, Chenguang Yang, Nathan F. Lepora:
One-Shot Domain-Adaptive Imitation Learning via Progressive Learning Applied to Robotic Pouring. IEEE Trans Autom. Sci. Eng. 21(1): 541-554 (2024) - [c69]Kipp McAdam Freud, Nathan F. Lepora, Matt W. Jones, Cian O'Donnell:
BrainSLAM: SLAM on Neural Population Activity Data. AAMAS 2024: 607-613 - [c68]Max Yang, Chenghua Lu, Alex Church, Yijiong Lin, Christopher J. Ford, Haoran Li, Efi Psomopoulou, David A. W. Barton, Nathan F. Lepora:
AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touch. CoRL 2024: 4727-4747 - [c67]Dan-dan Zhang, Yu Zheng, Wen Fan, Nathan F. Lepora, Zhengyou Zhang:
Self-Supervised Bayesian Visual Imitation Learning Applied to Robotic Pouring. ICIT 2024: 1-7 - [c66]Wen Fan, Haoran Li, Weiyong Si, Shan Luo, Nathan F. Lepora, Dandan Zhang:
ViTacTip: Design and Verification of a Novel Biomimetic Physical Vision-Tactile Fusion Sensor. ICRA 2024: 1056-1062 - [c65]Zhenyu Lu, Jialong Yang, Haoran Li, Yifan Li, Weiyong Si, Nathan F. Lepora, Chenguang Yang:
TacShade: A New 3D-printed Soft Optical Tactile Sensor Based on Light, Shadow and Greyscale for Shape Reconstruction. ICRA 2024: 17153-17159 - [c64]Xiaofeng Mao, Yucheng Xu, Ruoshi Wen, Mohammadreza Kasaei, Wanming Yu, Efi Psomopoulou, Nathan F. Lepora, Zhibin Li:
Efficient Tactile Sensing-based Learning from Limited Real-world Demonstrations for Dual-arm Fine Pinch-Grasp Skills. IROS 2024: 5112-5119 - [c63]Saekwang Nam, Toby Jack, Loong Yi Lee, Nathan F. Lepora:
Softness Prediction with a Soft Biomimetic Optical Tactile Sensor. RoboSoft 2024: 121-126 - [i54]Wen Fan, Haoran Li, Weiyong Si, Shan Luo, Nathan F. Lepora, Dandan Zhang:
ViTacTip: Design and Verification of a Novel Biomimetic Physical Vision-Tactile Fusion Sensor. CoRR abs/2402.00199 (2024) - [i53]Kipp McAdam Freud, Nathan F. Lepora, Matt W. Jones, Cian O'Donnell:
BrainSLAM: SLAM on Neural Population Activity Data. CoRR abs/2402.00588 (2024) - [i52]Mauro Comi, Alessio Tonioni, Max Yang, Jonathan Tremblay, Valts Blukis, Yijiong Lin, Nathan F. Lepora, Laurence Aitchison:
Snap-it, Tap-it, Splat-it: Tactile-Informed 3D Gaussian Splatting for Reconstructing Challenging Surfaces. CoRR abs/2403.20275 (2024) - [i51]Chenghua Lu, Kailuan Tang, Max Yang, Tianqi Yue, Nathan F. Lepora:
DexiTac: Soft Dexterous Tactile Gripping. CoRR abs/2405.02897 (2024) - [i50]Max Yang, Chenghua Lu, Alex Church, Yijiong Lin, Chris Ford, Haoran Li, Efi Psomopoulou, David A. W. Barton, Nathan F. Lepora:
AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touch. CoRR abs/2405.07391 (2024) - [i49]Zhenyu Lu, Jialong Yang, Haoran Li, Yifan Li, Weiyong Si, Nathan F. Lepora, Chenguang Yang:
TacShade A New 3D-printed Soft Optical Tactile Sensor Based on Light, Shadow and Greyscale for Shape Reconstruction. CoRR abs/2406.00485 (2024) - [i48]Haoran Li, Christopher J. Ford, Chenghua Lu, Yijiong Lin, Matteo Bianchi, Manuel G. Catalano, Efi Psomopoulou, Nathan F. Lepora:
Tactile SoftHand-A: 3D-Printed, Tactile, Highly-underactuated, Anthropomorphic Robot Hand with an Antagonistic Tendon Mechanism. CoRR abs/2406.12731 (2024) - [i47]Xuyang Zhang, Tianqi Yang, Dandan Zhang, Nathan F. Lepora:
TacPalm: A Soft Gripper with a Biomimetic Optical Tactile Palm for Stable Precise Grasping. CoRR abs/2409.15239 (2024) - [i46]Chuanyu Li, Renjun Dang, Xiang Li, Zhiyuan Wu, Jing Xu, Hamidreza Kasaei, Roberto Calandra, Nathan F. Lepora, Shan Luo, Hao Su, Rui Chen:
ManiSkill-ViTac 2025: Challenge on Manipulation Skill Learning With Vision and Tactile Sensing. CoRR abs/2411.12503 (2024) - 2023
- [j44]Zhuochao He, Xuyang Zhang, Simon Jones, Sabine Hauert, Dandan Zhang, Nathan F. Lepora:
TacMMs: Tactile Mobile Manipulators for Warehouse Automation. IEEE Robotics Autom. Lett. 8(8): 4729-4736 (2023) - [j43]Zhenyu Lu, Lu Chen, Hengtai Dai, Haoran Li, Zhou Zhao, Bofang Zheng, Nathan F. Lepora, Chenguang Yang:
Visual-Tactile Robot Grasping Based on Human Skill Learning From Demonstrations Using a Wearable Parallel Hand Exoskeleton. IEEE Robotics Autom. Lett. 8(9): 5384-5391 (2023) - [j42]Yijiong Lin, Alex Church, Max Yang, Haoran Li, John Lloyd, Dandan Zhang, Nathan F. Lepora:
Bi-Touch: Bimanual Tactile Manipulation With Sim-to-Real Deep Reinforcement Learning. IEEE Robotics Autom. Lett. 8(9): 5472-5479 (2023) - [j41]Max Yang, Yijiong Lin, Alex Church, John Lloyd, Dandan Zhang, David A. W. Barton, Nathan F. Lepora:
Sim-to-Real Model-Based and Model-Free Deep Reinforcement Learning for Tactile Pushing. IEEE Robotics Autom. Lett. 8(9): 5480-5487 (2023) - [j40]Giulia Pagnanelli, Simone Ciotti, Nathan F. Lepora, Antonio Bicchi, Matteo Bianchi:
Model-Based Compliance Discrimination via Soft Tactile Optical Sensing and Optical Flow Computation: A Biomimetic Approach. IEEE Robotics Autom. Lett. 8(10): 6611-6618 (2023) - [j39]Wen Fan, Xiaoqing Guo, Enyang Feng, Jialin Lin, Yuanyi Wang, Jiaming Liang, Martin Stephen Garrad, Jonathan Rossiter, Zhengyou Zhang, Nathan F. Lepora, Lei Wei, Dandan Zhang:
Digital Twin-Driven Mixed Reality Framework for Immersive Teleoperation With Haptic Rendering. IEEE Robotics Autom. Lett. 8(12): 8494-8501 (2023) - [c62]Wen Fan, Max Yang, Yifan Xing, Nathan F. Lepora, Dandan Zhang:
Tac-VGNN: A Voronoi Graph Neural Network for Pose-Based Tactile Servoing. ICRA 2023: 10373-10379 - [c61]Christopher J. Ford, Haoran Li, John Lloyd, Manuel G. Catalano, Matteo Bianchi, Efi Psomopoulou, Nathan F. Lepora:
Tactile-Driven Gentle Grasping for Human-Robot Collaborative Tasks. ICRA 2023: 10394-10400 - [c60]David Cordova Bulens, Nathan F. Lepora, Stephen J. Redmond, Benjamin Ward-Cherrier:
Incipient Slip Detection with a Biomimetic Skin Morphology. IROS 2023: 8972-8978 - [c59]Yijiong Lin, Mauro Comi, Alex Church, Dandan Zhang, Nathan F. Lepora:
Attention for Robot Touch: Tactile Saliency Prediction for Robust Sim-to-Real Tactile Control. IROS 2023: 10806-10812 - [i45]Wen Fan, Max Yang, Yifan Xing, Nathan F. Lepora, Dandan Zhang:
Tac-VGNN: A Voronoi Graph Neural Network for Pose-Based Tactile Servoing. CoRR abs/2303.02708 (2023) - [i44]Christopher J. Ford, Haoran Li, John Lloyd, Manuel G. Catalano, Matteo Bianchi, Efi Psomopoulou, Nathan F. Lepora:
Tactile-Driven Gentle Grasping for Human-Robot Collaborative Tasks. CoRR abs/2303.09346 (2023) - [i43]Thomas J. Cairnes, Christopher J. Ford, Efi Psomopoulou, Nathan F. Lepora:
An Overview of Robotic Grippers. CoRR abs/2304.14051 (2023) - [i42]John Lloyd, Nathan F. Lepora:
A pose and shear-based tactile robotic system for object tracking, surface following and object pushing. CoRR abs/2306.08560 (2023) - [i41]Zhuochao He, Xuyang Zhang, Simon Jones, Sabine Hauert, Dandan Zhang, Nathan F. Lepora:
TacMMs: Tactile Mobile Manipulators for Warehouse Automation. CoRR abs/2306.16783 (2023) - [i40]Xiaofeng Mao, Yucheng Xu, Ruoshi Wen, Mohammadreza Kasaei, Wanming Yu, Efi Psomopoulou, Nathan F. Lepora, Zhibin Li:
Learning Fine Pinch-Grasp Skills using Tactile Sensing from Real Demonstration Data. CoRR abs/2307.04619 (2023) - [i39]Yijiong Lin, Alex Church, Max Yang, Haoran Li, John Lloyd, Dandan Zhang, Nathan F. Lepora:
Bi-Touch: Bimanual Tactile Manipulation with Sim-to-Real Deep Reinforcement Learning. CoRR abs/2307.06423 (2023) - [i38]Max Yang, Yijiong Lin, Alex Church, John Lloyd, Dandan Zhang, David A. W. Barton, Nathan F. Lepora:
Sim-to-Real Model-Based and Model-Free Deep Reinforcement Learning for Tactile Pushing. CoRR abs/2307.14272 (2023) - [i37]Yijiong Lin, Mauro Comi, Alex Church, Dandan Zhang, Nathan F. Lepora:
Attention of Robot Touch: Tactile Saliency Prediction for Robust Sim-to-Real Tactile Control. CoRR abs/2307.14510 (2023) - [i36]Mauro Comi, Yijiong Lin, Alex Church, Alessio Tonioni, Laurence Aitchison, Nathan F. Lepora:
TouchSDF: A DeepSDF Approach for 3D Shape Reconstruction using Vision-Based Tactile Sensing. CoRR abs/2311.12602 (2023) - [i35]John Lloyd, Nathan F. Lepora:
Pose and shear-based tactile servoing. CoRR abs/2312.08411 (2023) - 2022
- [j38]Noor Alakhawand, William Frier, Nathan F. Lepora:
Mapping Mid-Air Haptics With a Low-Cost Tactile Robot. IEEE Robotics Autom. Lett. 7(3): 7873-7880 (2022) - [j37]Haoran Li, Christopher J. Ford, Matteo Bianchi, Manuel G. Catalano, Efi Psomopoulou, Nathan F. Lepora:
BRL/Pisa/IIT SoftHand: A Low-Cost, 3D-Printed, Underactuated, Tendon-Driven Hand With Soft and Adaptive Synergies. IEEE Robotics Autom. Lett. 7(4): 8745-8751 (2022) - [j36]Nathan F. Lepora, Yijiong Lin, Ben Money-Coomes, John Lloyd:
DigiTac: A DIGIT-TacTip Hybrid Tactile Sensor for Comparing Low-Cost High-Resolution Robot Touch. IEEE Robotics Autom. Lett. 7(4): 9382-9388 (2022) - [j35]Yijiong Lin, John Lloyd, Alex Church, Nathan F. Lepora:
Tactile Gym 2.0: Sim-to-Real Deep Reinforcement Learning for Comparing Low-Cost High-Resolution Robot Touch. IEEE Robotics Autom. Lett. 7(4): 10754-10761 (2022) - [j34]Chenguang Yang, Shan Luo, Nathan F. Lepora, Fanny Ficuciello, Dongheui Lee, Weiwei Wan, Chun-Yi Su:
Biomimetic Perception, Cognition, and Control: From Nature to Robots [From the Guest Editors]. IEEE Robotics Autom. Mag. 29(4): 8 (2022) - [j33]Fraser L. A. Macdonald, Nathan F. Lepora, Jörg Conradt, Benjamin Ward-Cherrier:
Neuromorphic Tactile Edge Orientation Classification in an Unsupervised Spiking Neural Network. Sensors 22(18): 6998 (2022) - [j32]John Lloyd, Nathan F. Lepora:
Goal-Driven Robotic Pushing Using Tactile and Proprioceptive Feedback. IEEE Trans. Robotics 38(2): 1201-1212 (2022) - [c58]Wen Fan, Hongbo Bo, Yijiong Lin, Yifan Xing, Weiru Liu, Nathan F. Lepora, Dandan Zhang:
Graph Neural Networks for Interpretable Tactile Sensing. ICAC 2022: 1-6 - [c57]Anupam K. Gupta, Alex Church, Nathan F. Lepora:
Semi-Supervised Disentanglement of Tactile Contact Geometry from Sliding-Induced Shear. IROS 2022: 2092-2098 - [c56]Pernilla Craig, Laurence Aitchison, Nathan F. Lepora:
Active Inference for Artificial Touch: A Biologically-Plausible Tactile Control Method. Living Machines 2022: 169-181 - [i34]Nicholas Pestell, Nathan F. Lepora:
Artificial SA-I, RA-I and RA-II/Vibrotactile Afferents for Tactile Sensing of Texture. CoRR abs/2204.02475 (2022) - [i33]Dandan Zhang, Wen Fan, John Lloyd, Chenguang Yang, Nathan F. Lepora:
One-Shot Domain-Adaptive Imitation Learning via Progressive Learning. CoRR abs/2204.11251 (2022) - [i32]Haoran Li, Christopher J. Ford, Matteo Bianchi, Manuel G. Catalano, Efi Psomopoulou, Nathan F. Lepora:
BRL/Pisa/IIT SoftHand: A Low-cost, 3D-Printed, Underactuated, Tendon-Driven Hand with Soft and Adaptive Synergies. CoRR abs/2206.12655 (2022) - [i31]Nathan F. Lepora, Yijiong Lin, Ben Money-Coomes, John Lloyd:
DigiTac: A DIGIT-TacTip Hybrid Tactile Sensor for Comparing Low-Cost High-Resolution Robot Touch. CoRR abs/2206.13657 (2022) - [i30]Noor Alakhawand, William Frier, Nathan F. Lepora:
Mapping Mid-air Haptics with a Low-cost Tactile Robot. CoRR abs/2207.01554 (2022) - [i29]Yijiong Lin, John Lloyd, Alex Church, Nathan F. Lepora:
Tactile Gym 2.0: Sim-to-real Deep Reinforcement Learning for Comparing Low-cost High-Resolution Robot Touch. CoRR abs/2207.10763 (2022) - [i28]Michele Garibbo, Casimir J. H. Ludwig, Nathan F. Lepora, Laurence Aitchison:
What deep reinforcement learning tells us about human motor learning and vice-versa. CoRR abs/2208.10892 (2022) - [i27]Anupam K. Gupta, Alex Church, Nathan F. Lepora:
Semi-Supervised Disentanglement of Tactile Contact~Geometry from Sliding-Induced Shear. CoRR abs/2208.12500 (2022) - 2021
- [j31]Shan Luo, Nathan F. Lepora, Uriel Martinez-Hernandez, João Bimbo, Huaping Liu:
Editorial: ViTac: Integrating Vision and Touch for Multimodal and Cross-Modal Perception. Frontiers Robotics AI 8: 697601 (2021) - [j30]Efi Psomopoulou, Nicholas Pestell, Fotios Papadopoulos, John Lloyd, Zoe Doulgeri, Nathan F. Lepora:
A Robust Controller for Stable 3D Pinching Using Tactile Sensing. IEEE Robotics Autom. Lett. 6(4): 8150-8157 (2021) - [j29]Nathan F. Lepora, John Lloyd:
Pose-Based Tactile Servoing: Controlled Soft Touch Using Deep Learning. IEEE Robotics Autom. Mag. 28(4): 43-55 (2021) - [j28]Jasper Wollaston James, Nathan F. Lepora:
Slip Detection for Grasp Stabilization With a Multifingered Tactile Robot Hand. IEEE Trans. Robotics 37(2): 506-519 (2021) - [c55]Anupam K. Gupta, Laurence Aitchison, Nathan F. Lepora:
Tactile Image-to-Image Disentanglement of Contact Geometry from Motion-Induced Shear. CoRL 2021: 14-23 - [c54]Alex Church, John Lloyd, Raia Hadsell, Nathan F. Lepora:
Tactile Sim-to-Real Policy Transfer via Real-to-Sim Image Translation. CoRL 2021: 1645-1654 - [c53]Robyn A. Grant, Gary Dougill, Nathan F. Lepora:
Species-specific whisker morphology affects tactile interactions. WHC 2021: 1149 - [c52]Manuel Floriano Vázquez, Nathan F. Lepora:
Uncertainty-aware deep learning for robot touch: Application to Bayesian tactile servo control. ICRA 2021: 1615-1621 - [c51]Nathan F. Lepora, Chris Ford, Andrew Stinchcombe, Alfred Brown, John Lloyd, Manuel G. Catalano, Matteo Bianchi, Benjamin Ward-Cherrier:
Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands. ICRA 2021: 1622-1628 - [c50]John Lloyd, Yijiong Lin, Nathan F. Lepora:
Probabilistic Discriminative Models address the Tactile Perceptual Aliasing Problem. Robotics: Science and Systems 2021 - [i26]Nathan F. Lepora, Andrew Stinchcombe, Chris Ford, Alfred Brown, John Lloyd, Manuel G. Catalano, Matteo Bianchi, Benjamin Ward-Cherrier:
Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands. CoRR abs/2102.03318 (2021) - [i25]Manuel Floriano Vázquez, Nathan F. Lepora:
Uncertainty-aware deep learning for robot touch: Application to Bayesian tactile servo control. CoRR abs/2104.14184 (2021) - [i24]Nathan F. Lepora:
Soft Biomimetic Optical Tactile Sensing with the TacTip: A Review. CoRR abs/2105.14455 (2021) - [i23]Efi Psomopoulou, Nicholas Pestell, Fotios Papadopoulos, John Lloyd, Zoe Doulgeri, Nathan F. Lepora:
A Robust Controller for Stable 3D Pinching using Tactile Sensing. CoRR abs/2106.01110 (2021) - [i22]John Lloyd, Yijiong Lin, Nathan F. Lepora:
Probabilistic Discriminative Models Address the Tactile Perceptual Aliasing Problem. CoRR abs/2106.02125 (2021) - [i21]Alex Church, John Lloyd, Raia Hadsell, Nathan F. Lepora:
Optical Tactile Sim-to-Real Policy Transfer via Real-to-Sim Tactile Image Translation. CoRR abs/2106.08796 (2021) - [i20]Nicholas Pestell, Thom Griffith, Nathan F. Lepora:
Artificial SA-I and RA-I Afferentsfor Tactile Sensing of Ridges and Gratings. CoRR abs/2107.02084 (2021) - [i19]Anupam K. Gupta, Laurence Aitchison, Nathan F. Lepora:
Tactile Image-to-Image Disentanglement of Contact Geometry from Motion-Induced Shear. CoRR abs/2109.03615 (2021) - [i18]Emma L. Roscow, Raymond Chua, Rui Ponte Costa, Matt W. Jones, Nathan F. Lepora:
Learning offline: memory replay in biological and artificial reinforcement learning. CoRR abs/2109.10034 (2021) - 2020
- [j27]Alex Church, John Lloyd, Raia Hadsell, Nathan F. Lepora:
Deep Reinforcement Learning for Tactile Robotics: Learning to Type on a Braille Keyboard. IEEE Robotics Autom. Lett. 5(4): 6145-6152 (2020) - [j26]Nathan F. Lepora, John Lloyd:
Optimal Deep Learning for Robot Touch: Training Accurate Pose Models of 3D Surfaces and Edges. IEEE Robotics Autom. Mag. 27(2): 66-77 (2020) - [c49]Noor Alakhawand, William Frier, Kipp McAdam Freud, Orestis Georgiou, Nathan F. Lepora:
Sensing Ultrasonic Mid-Air Haptics with a Biomimetic Tactile Fingertip. EuroHaptics 2020: 362-370 - [c48]Zihan Ding, Nathan F. Lepora, Edward Johns:
Sim-to-Real Transfer for Optical Tactile Sensing. ICRA 2020: 1639-1645 - [c47]Benjamin Ward-Cherrier, Nicholas Pestell, Nathan F. Lepora:
NeuroTac: A Neuromorphic Optical Tactile Sensor applied to Texture Recognition. ICRA 2020: 2654-2660 - [c46]Jasper Wollaston James, Stephen J. Redmond, Nathan F. Lepora:
A Biomimetic Tactile Fingerprint Induces Incipient Slip. IROS 2020: 9833-9839 - [c45]Elizabeth A. Stone, Nathan F. Lepora, David A. W. Barton:
Learning to Live Life on the Edge: Online Learning for Data-Efficient Tactile Contour Following. IROS 2020: 9854-9860 - [c44]Elizabeth A. Stone, Nathan F. Lepora, David A. W. Barton:
Walking on TacTip toes: A tactile sensing foot for walking robots. IROS 2020: 9869-9875 - [c43]Benjamin Ward-Cherrier, Jörg Conradt, Manuel G. Catalano, Matteo Bianchi, Nathan F. Lepora:
A Miniaturised Neuromorphic Tactile Sensor integrated with an Anthropomorphic Robot Hand. IROS 2020: 9883-9889 - [i17]Benjamin Ward-Cherrier, Nicholas Pestell, Nathan F. Lepora:
NeuroTac: A Neuromorphic Optical Tactile Sensor applied to Texture Recognition. CoRR abs/2003.00467 (2020) - [i16]Nathan F. Lepora, John Lloyd:
Optimal Deep Learning for Robot Touch. CoRR abs/2003.01916 (2020) - [i15]Zihan Ding, Nathan F. Lepora, Edward Johns:
Sim-to-Real Transfer for Optical Tactile Sensing. CoRR abs/2004.00136 (2020) - [i14]Alex Church, John Lloyd, Raia Hadsell, Nathan F. Lepora:
Deep Reinforcement Learning for Tactile Robotics: Learning to Type on a Braille Keyboard. CoRR abs/2008.02646 (2020) - [i13]Elizabeth A. Stone, Nathan F. Lepora, David A. W. Barton:
Walking on TacTip toes: A tactile sensing foot for walking robots. CoRR abs/2008.05240 (2020) - [i12]Jasper Wollaston James, Stephen J. Redmond, Nathan F. Lepora:
A Biomimetic Tactile Fingerprint Induces Incipient Slip. CoRR abs/2008.06904 (2020) - [i11]Jasper Wollaston James, Nathan F. Lepora:
Slip detection for grasp stabilisation with a multi-fingered tactile robot hand. CoRR abs/2010.01928 (2020) - [i10]Anupam K. Gupta, Andrei Nakagawa Silva, Nathan F. Lepora, Nitish V. Thakor:
Spatio-temporal encoding improves neuromorphic tactile texture classification. CoRR abs/2010.14184 (2020) - [i9]John Lloyd, Nathan F. Lepora:
Goal-Driven Robotic Pushing Using Tactile and Proprioceptive Feedback. CoRR abs/2012.01859 (2020) - [i8]Nathan F. Lepora, John Lloyd:
Pose-Based Servo Control with Soft Tactile Sensing. CoRR abs/2012.02504 (2020)
2010 – 2019
- 2019
- [j25]Nathan F. Lepora, Alex Church, Conrad De Kerckhove, Raia Hadsell, John Lloyd:
From Pixels to Percepts: Highly Robust Edge Perception and Contour Following Using Deep Learning and an Optical Biomimetic Tactile Sensor. IEEE Robotics Autom. Lett. 4(2): 2101-2107 (2019) - [j24]Nicholas Pestell, Luke Cramphorn, Fotios Papadopoulos, Nathan F. Lepora:
A Sense of Touch for the Shadow Modular Grasper. IEEE Robotics Autom. Lett. 4(2): 2220-2226 (2019) - [j23]Marsela Polic, Ivona Krajacic, Nathan F. Lepora, Matko Orsag:
Convolutional Autoencoder for Feature Extraction in Tactile Sensing. IEEE Robotics Autom. Lett. 4(4): 3671-3678 (2019) - [j22]Huaping Liu, Nathan F. Lepora, Andrea Cherubini:
Guest Editorial Special Issue on Active Perception for Industrial Intelligence. IEEE Trans Autom. Sci. Eng. 16(4): 1498-1499 (2019) - [c42]Kirsty Aquilina, David A. W. Barton, Nathan F. Lepora:
Shear-invariant Sliding Contact Perception with a Soft Tactile Sensor. ICRA 2019: 4283-4289 - [i7]Kirsty Aquilina, David A. W. Barton, Nathan F. Lepora:
Shear-invariant Sliding Contact Perception with a Soft Tactile Sensor. CoRR abs/1905.00842 (2019) - [i6]Alex Church, Jasper Wollaston James, Luke Cramphorn, Nathan F. Lepora:
Tactile Model O: Fabrication and testing of a 3d-printed, three-fingered tactile robot hand. CoRR abs/1907.07535 (2019) - [i5]Elizabeth A. Stone, Nathan F. Lepora, David A. W. Barton:
Learning to Live Life on the Edge: Online Learning for Data-Efficient Tactile Contour Following. CoRR abs/1909.05808 (2019) - 2018
- [j21]Nicholas Pestell, John Lloyd, Jonathan Rossiter, Nathan F. Lepora:
Dual-Modal Tactile Perception and Exploration. IEEE Robotics Autom. Lett. 3(2): 1033-1040 (2018) - [j20]Jasper Wollaston James, Nicholas Pestell, Nathan F. Lepora:
Slip Detection With a Biomimetic Tactile Sensor. IEEE Robotics Autom. Lett. 3(4): 3340-3346 (2018) - [c41]Kirsty Aquilina, David A. W. Barton, Nathan F. Lepora:
Principal Components of Touch. ICRA 2018: 1-8 - [c40]Luke Cramphorn, John Lloyd, Nathan F. Lepora:
Voronoi Features for Tactile Sensing: Direct Inference of Pressure, Shear, and Contact Locations. ICRA 2018: 2752-2757 - [c39]Nathan F. Lepora, Martin J. Pearson, Luke Cramphorn:
TacWhiskers: Biomimetic Optical Tactile Whiskered Robots. IROS 2018: 7628-7634 - [c38]Jasper Wollaston James, Nathan F. Lepora:
Slip Detection on Natural Objects with a Biomimetic Tactile Sensor. Living Machines 2018: 232-235 - [c37]Nathan F. Lepora, Niels Burnus, Yilin Tao, Luke Cramphorn:
Active Touch with a Biomimetic 3D-Printed Whiskered Robot. Living Machines 2018: 263-275 - [c36]Nicholas Pestell, Nathan F. Lepora:
Texture Perception with a Biomimetic Optical Tactile Sensor. Living Machines 2018: 365-369 - [c35]Gabor Soter, Andrew T. Conn, Helmut Hauser, Nathan F. Lepora, Jonathan Rossiter:
MultiTip: A multimodal mechano-thermal soft fingertip. RoboSoft 2018: 239-244 - [e6]Vasiliki Vouloutsi, José Halloy, Anna Mura, Michael Mangan, Nathan F. Lepora, Tony J. Prescott, Paul F. M. J. Verschure:
Biomimetic and Biohybrid Systems - 7th International Conference, Living Machines 2018, Paris, France, July 17-20, 2018, Proceedings. Lecture Notes in Computer Science 10928, Springer 2018, ISBN 978-3-319-95971-9 [contents] - [i4]Luke Cramphorn, John Lloyd, Nathan F. Lepora:
Voronoi Features for Tactile Sensing: Direct Inference of Pressure, Shear, and Contact Locations. CoRR abs/1805.07868 (2018) - [i3]Kirsty Aquilina, David A. W. Barton, Nathan F. Lepora:
Principal Components of Touch. CoRR abs/1805.08039 (2018) - [i2]Nathan F. Lepora, Martin J. Pearson, Luke Cramphorn:
TacWhiskers: Biomimetic optical tactile whiskered robots. CoRR abs/1810.00460 (2018) - [i1]Nathan F. Lepora, Alex Church, Conrad De Kerckhove, Raia Hadsell, John Lloyd:
From pixels to percepts: Highly robust edge perception and contour following using deep learning and an optical biomimetic tactile sensor. CoRR abs/1812.02941 (2018) - 2017
- [j19]Nathan F. Lepora, Kirsty Aquilina, Luke Cramphorn:
Exploratory Tactile Servoing With Active Touch. IEEE Robotics Autom. Lett. 2(2): 1156-1163 (2017) - [j18]Benjamin Ward-Cherrier, Luke Cramphorn, Nathan F. Lepora:
Exploiting Sensor Symmetry for Generalized Tactile Perception in Biomimetic Touch. IEEE Robotics Autom. Lett. 2(2): 1218-1225 (2017) - [j17]Luke Cramphorn, Benjamin Ward-Cherrier, Nathan F. Lepora:
Addition of a Biomimetic Fingerprint on an Artificial Fingertip Enhances Tactile Spatial Acuity. IEEE Robotics Autom. Lett. 2(3): 1336-1343 (2017) - [j16]Benjamin Ward-Cherrier, Nicolás Rojas, Nathan F. Lepora:
Model-Free Precise in-Hand Manipulation with a 3D-Printed Tactile Gripper. IEEE Robotics Autom. Lett. 2(4): 2056-2063 (2017) - [j15]Uriel Martinez-Hernandez, Tony J. Dodd, Mathew H. Evans, Tony J. Prescott, Nathan F. Lepora:
Active sensorimotor control for tactile exploration. Robotics Auton. Syst. 87: 15-27 (2017) - [c34]Chuanyu Yang, Nathan F. Lepora:
Object exploration using vision and active touch. IROS 2017: 6363-6370 - [e5]Michael Mangan, Mark R. Cutkosky, Anna Mura, Paul F. M. J. Verschure, Tony J. Prescott, Nathan F. Lepora:
Biomimetic and Biohybrid Systems - 6th International Conference, Living Machines 2017, Stanford, CA, USA, July 26-28, 2017, Proceedings. Lecture Notes in Computer Science 10384, Springer 2017, ISBN 978-3-319-63536-1 [contents] - 2016
- [j14]Benjamin Ward-Cherrier, Luke Cramphorn, Nathan F. Lepora:
Tactile Manipulation With a TacThumb Integrated on the Open-Hand M2 Gripper. IEEE Robotics Autom. Lett. 1(1): 169-175 (2016) - [j13]Nathan F. Lepora, Benjamin Ward-Cherrier:
Tactile Quality Control With Biomimetic Active Touch. IEEE Robotics Autom. Lett. 1(2): 646-652 (2016) - [j12]Yon Visell, Nathan F. Lepora, Mitra J. Z. Hartmann, Vincent Hayward:
Biology to Technology in Active Touch Sensing - Introduction to the Special Section. IEEE Trans. Haptics 9(2): 155-157 (2016) - [j11]Nathan F. Lepora:
Biomimetic Active Touch with Fingertips and Whiskers. IEEE Trans. Haptics 9(2): 170-183 (2016) - [c33]Luke Cramphorn, Benjamin Ward-Cherrier, Nathan F. Lepora:
Tactile manipulation with biomimetic active touch. ICRA 2016: 123-129 - [c32]Kirsty Aquilina, David A. W. Barton, Nathan F. Lepora:
Gaussian Process Regression for a Biomimetic Tactile Sensor. Living Machines 2016: 393-399 - [c31]Luke Cramphorn, Benjamin Ward-Cherrier, Nathan F. Lepora:
A Biomimetic Fingerprint Improves Spatial Tactile Perception. Living Machines 2016: 418-423 - [c30]Maria Elena Giannaccini, Stuart Whyle, Nathan F. Lepora:
Force Sensing with a Biomimetic Fingertip. Living Machines 2016: 436-440 - [c29]Nicholas Pestell, Benjamin Ward-Cherrier, Luke Cramphorn, Nathan F. Lepora:
Tactile Exploration by Contour Following Using a Biomimetic Fingertip. Living Machines 2016: 485-489 - [c28]Emma Roscow, Christopher Kent, Ute Leonards, Nathan F. Lepora:
Discrimination-Based Perception for Robot Touch. Living Machines 2016: 498-502 - [c27]Benjamin Ward-Cherrier, Luke Cramphorn, Nathan F. Lepora:
Exploiting Symmetry to Generalize Biomimetic Touch. Living Machines 2016: 540-544 - [c26]Nathan F. Lepora:
Threshold Learning for Optimal Decision Making. NIPS 2016: 3756-3764 - [e4]Nathan F. Lepora, Anna Mura, Michael Mangan, Paul F. M. J. Verschure, Marc P. Y. Desmulliez, Tony J. Prescott:
Biomimetic and Biohybrid Systems - 5th International Conference, Living Machines 2016, Edinburgh, UK, July 19-22, 2016. Proceedings. Lecture Notes in Computer Science 9793, Springer 2016, ISBN 978-3-319-42416-3 [contents] - 2015
- [j10]Nathan F. Lepora, Giovanni Pezzulo:
Embodied Choice: How Action Influences Perceptual Decision Making. PLoS Comput. Biol. 11(4) (2015) - [j9]Nathan F. Lepora:
Active tactile perception. Scholarpedia 10(3): 32364 (2015) - [j8]Nathan F. Lepora, Uriel Martinez-Hernandez, Mathew H. Evans, Lorenzo Natale, Giorgio Metta, Tony J. Prescott:
Tactile Superresolution and Biomimetic Hyperacuity. IEEE Trans. Robotics 31(3): 605-618 (2015) - [c25]Uriel Martinez-Hernandez, Nathan F. Lepora, Tony J. Prescott:
Active haptic shape recognition by intrinsic motivation with a robot hand. World Haptics 2015: 299-304 - [c24]Nathan F. Lepora, Benjamin Ward-Cherrier:
Superresolution with an optical tactile sensor. IROS 2015: 2686-2691 - [c23]Uriel Martinez-Hernandez, Nathan F. Lepora, Tony J. Prescott:
Active Control for Object Perception and Exploration with a Robotic Hand. Living Machines 2015: 415-428 - 2014
- [e3]Armin Duff, Nathan F. Lepora, Anna Mura, Tony J. Prescott, Paul F. M. J. Verschure:
Biomimetic and Biohybrid Systems - Third International Conference, Living Machines 2014, Milan, Italy, July 30 - August 1, 2014. Proceedings. Lecture Notes in Computer Science 8608, Springer 2014, ISBN 978-3-319-09434-2 [contents] - 2013
- [c22]Uriel Martinez-Hernandez, Giorgio Metta, Tony J. Dodd, Tony J. Prescott, Lorenzo Natale, Nathan F. Lepora:
Active contour following to explore object shape with robot touch. World Haptics 2013: 341-346 - [c21]Hector Barron-Gonzalez, John Porrill, Nathan F. Lepora, Eris Chinellato, Giorgio Metta, Tony J. Prescott:
Cerebellum-based adaptation for fine haptic control over the space of uncertain surfaces. World Haptics 2013: 353-358 - [c20]Nathan F. Lepora, Uriel Martinez-Hernandez, Tony J. Prescott:
Active touch for robust perception under position uncertainty. ICRA 2013: 3020-3025 - [c19]Nathan F. Lepora, Uriel Martinez-Hernandez, Giovanni Pezzulo, Tony J. Prescott:
Active Bayesian perception and reinforcement learning. IROS 2013: 4735-4740 - [c18]Uriel Martinez-Hernandez, Tony J. Dodd, Tony J. Prescott, Nathan F. Lepora:
Active Bayesian perception for angle and position discrimination with a biomimetic fingertip. IROS 2013: 5968-5973 - [c17]Nathan F. Lepora, Uriel Martinez-Hernandez, Tony J. Prescott:
A SOLID Case for Active Bayesian Perception in Robot Touch. Living Machines 2013: 154-166 - [c16]Nathan F. Lepora, Paul F. M. J. Verschure, Tony J. Prescott:
Towards a Roadmap for Living Machines. Living Machines 2013: 396-398 - [c15]Uriel Martinez-Hernandez, Tony J. Dodd, Tony J. Prescott, Nathan F. Lepora:
Angle and Position Perception for Exploration with Active Touch. Living Machines 2013: 405-408 - [c14]Nathan F. Lepora, Uriel Martinez-Hernandez, Tony J. Prescott:
Active Bayesian Perception for Simultaneous Object Localization and Identification. Robotics: Science and Systems 2013 - [p1]Kevin N. Gurney, Nathan F. Lepora, Ashvin Shah, Ansgar Koene, Peter Redgrave:
Action Discovery and Intrinsic Motivation: A Biologically Constrained Formalisation. Intrinsically Motivated Learning in Natural and Artificial Systems 2013: 151-181 - [e2]Nathan F. Lepora, Anna Mura, Holger G. Krapp, Paul F. M. J. Verschure, Tony J. Prescott:
Biomimetic and Biohybrid Systems - Second International Conference, Living Machines 2013, London, UK, July 29 - August 2, 2013. Proceedings. Lecture Notes in Computer Science 8064, Springer 2013, ISBN 978-3-642-39801-8 [contents] - 2012
- [j7]Mathew H. Evans, Charles W. Fox, Nathan F. Lepora, Martin J. Pearson, J. Charles Sullivan, Tony J. Prescott:
The effect of whisker movement on radial distance estimation: a case study in comparative robotics. Frontiers Neurorobotics 6: 12 (2012) - [j6]Nathan F. Lepora, Paul G. Overton, Kevin N. Gurney:
Efficient fitting of conductance-based model neurons from somatic current clamp. J. Comput. Neurosci. 32(1): 1-24 (2012) - [j5]Nathan F. Lepora, Kevin N. Gurney:
The Basal Ganglia Optimize Decision Making over General Perceptual Hypotheses. Neural Comput. 24(11): 2924-2945 (2012) - [c13]Nathan F. Lepora, J. Charlie Sullivan, Benjamin Mitchinson, Martin J. Pearson, Kevin N. Gurney, Tony J. Prescott:
Brain-inspired Bayesian perception for biomimetic robot touch. ICRA 2012: 5111-5116 - [c12]Mathew H. Evans, Martin J. Pearson, Nathan F. Lepora, Tony J. Prescott, Charles W. Fox:
Whiskered texture classification with uncertain contact pose geometry. IROS 2012: 7-13 - [c11]Nathan F. Lepora, Uriel Martinez-Hernandez, Hector Barron-Gonzalez, Mathew H. Evans, Giorgio Metta, Tony J. Prescott:
Embodied hyperacuity from Bayesian perception: Shape and position discrimination with an iCub fingertip sensor. IROS 2012: 4638-4643 - [c10]Hector Barron-Gonzalez, Nathan F. Lepora, Uriel Martinez-Hernandez, Mathew H. Evans, Tony J. Prescott:
Towards a Framework for Tactile Perception in Social Robotics. Living Machines 2012: 335-336 - [c9]Nathan F. Lepora, Paul F. M. J. Verschure, Tony J. Prescott:
The State-of-the-Art in Biomimetics. Living Machines 2012: 367-368 - [c8]Uriel Martinez-Hernandez, Hector Barron-Gonzalez, Mathew H. Evans, Nathan F. Lepora, Tony J. Dodd, Tony J. Prescott:
Texture Classification through Tactile Sensing. Living Machines 2012: 377-379 - [c7]Uriel Martinez-Hernandez, Nathan F. Lepora, Hector Barron-Gonzalez, Tony J. Dodd, Tony J. Prescott:
Towards Contour Following Exploration Based on Tactile Sensing with the iCub Fingertip. TAROS 2012: 459-460 - [e1]Tony J. Prescott, Nathan F. Lepora, Anna Mura, Paul F. M. J. Verschure:
Biomimetic and Biohybrid Systems - First International Conference, Living Machines 2012, Barcelona, Spain, July 9-12, 2012. Proceedings. Lecture Notes in Computer Science 7375, Springer 2012, ISBN 978-3-642-31524-4 [contents] - 2011
- [c6]Nathan F. Lepora, Charles W. Fox, Mathew H. Evans, Benjamin Mitchinson, Asma Motiwala, J. Charlie Sullivan, Martin J. Pearson, Jason Welsby, Anthony G. Pipe, Kevin N. Gurney, Tony J. Prescott:
A General Classifier of Whisker Data Using Stationary Naive Bayes: Application to BIOTACT Robots. TAROS 2011: 13-23 - [c5]Charles W. Fox, Mathew H. Evans, Nathan F. Lepora, Martin J. Pearson, Andy Ham, Tony J. Prescott:
CrunchBot: A Mobile Whiskered Robot Platform. TAROS 2011: 102-113 - [c4]Asma Motiwala, Charles W. Fox, Nathan F. Lepora, Tony J. Prescott:
Sensing with Artificial Tactile Sensors: An Investigation of Spatio-temporal Inference. TAROS 2011: 253-264 - 2010
- [j4]Nathan F. Lepora, John Porrill, Christopher H. Yeo, Paul Dean:
Sensory Prediction or Motor Control? Application of Marr-Albus Type Models of Cerebellar Function to Classical Conditioning. Frontiers Comput. Neurosci. 4: 140 (2010) - [j3]Sean R. Anderson, Nathan F. Lepora, John Porrill, Paul Dean:
Nonlinear Dynamic Modeling of Isometric Force Production in Primate Eye Muscle. IEEE Trans. Biomed. Eng. 57(7): 1554-1567 (2010) - [c3]Nathan F. Lepora, Mathew H. Evans, Charles W. Fox, Mathew E. Diamond, Kevin N. Gurney, Tony J. Prescott:
Naive Bayes texture classification applied to whisker data from a moving robot. IJCNN 2010: 1-8 - [c2]Nathan F. Lepora, Martin J. Pearson, Benjamin Mitchinson, Mathew H. Evans, Charles W. Fox, Anthony G. Pipe, Kevin N. Gurney, Tony J. Prescott:
Naive Bayes novelty detection for a moving robot with whiskers. ROBIO 2010: 131-136 - [c1]Mathew H. Evans, Charles W. Fox, Martin J. Pearson, Nathan F. Lepora, Tony J. Prescott:
Whisker-object contact speed affects radial distance estimation. ROBIO 2010: 720-725
2000 – 2009
- 2009
- [j2]Mark D. Humphries, Nathan F. Lepora, Ric Wood, Kevin N. Gurney:
Capturing dopaminergic modulation and bimodal membrane behaviour of striatal medium spiny neurons in accurate, reduced models. Frontiers Comput. Neurosci. 3: 26 (2009) - 2007
- [j1]Eirini Mavritsaki, Nathan F. Lepora, John Porrill, Christopher H. Yeo, Paul Dean:
Response linearity determined by recruitment strategy in detailed model of nictitating membrane control. Biol. Cybern. 96(1): 39-57 (2007)
Coauthor Index
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