All Outputs (9)

Towards a Platform-Independent Cooperative Human Robot Interaction System: III. An Architecture for Learning and Executing Actions and Shared Plans (2012)
Journal Article

Robots should be capable of interacting in a cooperative and adaptive manner with their human counterparts in open-ended tasks that can change in real-time. An important aspect of the robot behavior will be the ability to acquire new knowledge of the... Read More about Towards a Platform-Independent Cooperative Human Robot Interaction System: III. An Architecture for Learning and Executing Actions and Shared Plans.

Lump localisation through a deformation-based tactile feedback system using a biologically inspired finger sensor (2012)
Journal Article

The ability to localise harder areas in soft tissues is often desired during robot-assisted surgical operations. A deformation-based tactile feedback system was tested for the detection of objects within soft tissues, after being chosen over common p... Read More about Lump localisation through a deformation-based tactile feedback system using a biologically inspired finger sensor.

Towards a variable compliance hydrostatic skeleton inspired gripper (2012)
Presentation / Conference Contribution

Variable compliance is a subject of great interest in the robotics community, particularly in the area of HumanRobot interaction. In this work, variable compliance is achieved in a novel grasping device inspired by the hydrostatic skeletons of invert... Read More about Towards a variable compliance hydrostatic skeleton inspired gripper.

An internal model architecture for novelty detection: Implications for cerebellar and collicular roles in sensory processing (2012)
Journal Article

The cerebellum is thought to implement internal models for sensory prediction, but details of the underlying circuitry are currently obscure. We therefore investigated a specific example of internal-model based sensory prediction, namely detection of... Read More about An internal model architecture for novelty detection: Implications for cerebellar and collicular roles in sensory processing.

Towards an anthropomorphic design of minimally invasive instrumentation for soft tissue robotic surgery (2012)
Presentation / Conference Contribution

Minimally invasive procedures, such as laparoscopy, have significantly decreased blood loss, postoperative morbidity and length of hospital stay. Robot-assisted Minimally Invasive Surgery (MIS) has offered refined accuracy and more ergonomic instrume... Read More about Towards an anthropomorphic design of minimally invasive instrumentation for soft tissue robotic surgery.

Predictive prey pursuit in a whiskered robot (2012)
Presentation / Conference Contribution

Highly active small mammals need to capture prey rapidly and with a high success rate if they are to survive. We consider the case of the Etruscan shrew, which hunts prey including crickets almost as large as itself, and relies on its whiskers (vibri... Read More about Predictive prey pursuit in a whiskered robot.

Towards tactile sensing applied to underwater autonomous vehicles for near shore survey and de-mining (2012)
Presentation / Conference Contribution

Artificial tactile whisker sensors demonstrate an approach to localisation [1] that is robust to harsh environmental disturbances, endowing autonomous systems with the ability to operate effectively in confined, noisy and visually occluded spaces, su... Read More about Towards tactile sensing applied to underwater autonomous vehicles for near shore survey and de-mining.

The emergence of action sequences from spatial attention: Insight from rodent-like robots (2012)
Presentation / Conference Contribution

Animal behaviour is rich, varied, and smoothly integrated. One plausible model of its generation is that behavioural sub-systems compete to command effectors. In small terrestrial mammals, many behaviours are underpinned by foveation, since important... Read More about The emergence of action sequences from spatial attention: Insight from rodent-like robots.

Towards tactile sensing applied to underwater autonomous vehicles for near shore survey and de-mining (2012)
Journal Article

Artificial tactile whisker sensors demonstrate an approach to localisation that is robust to harsh environmental disturbances, endowing autonomous systems with the ability to operate effectively in confined, noisy and visually occluded spaces, such a... Read More about Towards tactile sensing applied to underwater autonomous vehicles for near shore survey and de-mining.