Tony Pipe's Outputs (84)

Safe adaptive compliance control of a humanoid robotic arm with anti-windup compensation and posture control (2010)
Journal Article

Safety is very important for physical human-robot interaction. Compliance control can solve an important aspect of the safety problem by dealing with impact and other forces arising during close contact between humans and robots. An adaptive complian... Read More about Safe adaptive compliance control of a humanoid robotic arm with anti-windup compensation and posture control.

SCRATCHbot: Active tactile sensing in a whiskered mobile robot (2010)
Book Chapter

Towards biomimetic vibrissal tactile sensing for robot exploration, navigation, and object recognition in hazardous environments (2010)
Presentation / Conference Contribution

Cooperative gestures: Effective signaling for humanoid robots (2010)
Journal Article

Albatross inspires ocean-skimming drone (2009)
Journal Article

Whisking with robots: From rat vibrissae to biomimetic technology for active touch (2009)
Journal Article

This article summarizes some of the key features of the rat vibrissal system, including the actively controlled sweeping movements of the vibrissae known as whisking, and reviews the past and ongoing research aimed at replicating some of this functio... Read More about Whisking with robots: From rat vibrissae to biomimetic technology for active touch.

Engineless unmanned aerial vehicle propulsion by dynamic soaring (2009)
Journal Article

Dynamic soaring is a flight technique which extracts energy from wind gradients with the potential to power small unmanned aerial vehicles in maritime applications. Wind gradients of the required magnitude naturally occur at the air-sea interface due... Read More about Engineless unmanned aerial vehicle propulsion by dynamic soaring.

Engineless unmanned aerial vehicle propulsion by dynamic soaring (2009)
Journal Article

Dynamic soaring flight in turbulence (2009)
Presentation / Conference Contribution

Contact type dependency of texture classification in a whiskered mobile robot (2009)
Journal Article

Actuated artificial whiskers modeled on rat macrovibrissae can provide effective tactile sensor systems for autonomous robots. This article focuses on texture classification using artificial whiskers and addresses a limitation of previous studies, na... Read More about Contact type dependency of texture classification in a whiskered mobile robot.

Cerebellar-inspired adaptive control of a robot eye actuated by pneumatic artificial Muscles (2009)
Journal Article

In this paper, a model of cerebellar function is implemented and evaluated in the control of a robot eye actuated by pneumatic artificial muscles. The investigated control problem is stabilization of the visual image in response to disturbances. This... Read More about Cerebellar-inspired adaptive control of a robot eye actuated by pneumatic artificial Muscles.

A robot manipulator communications and control framework (2008)
Presentation / Conference Contribution

The use of industrial scale experimental machinery robot systems such as the Mitsubishi RV-2AJ manipulator in research to experimentally prove new theories is a great opportunity. The robot manipulator communications and control framework written in... Read More about A robot manipulator communications and control framework.

A feasibility study for energy autonomy in multi robot search and rescue operations (2008)
Presentation / Conference Contribution

This paper proposes a novel search and rescue concept that aims to overcome the most basic obstacle in utilising a search and rescue teleoperated robot for a long distance energy autonomy. The concept utilizes a number of small robots capable of crea... Read More about A feasibility study for energy autonomy in multi robot search and rescue operations.

An adaptive gaze stabilization controller inspired by the vestibulo-ocular reflex (2008)
Journal Article

The vestibulo-ocular reflex stabilizes vision in many vertebrates. It integrates inertial and visual information to drive the eyes in the opposite direction to head movement and thereby stabilizes the image on the retina. Its adaptive nature guarante... Read More about An adaptive gaze stabilization controller inspired by the vestibulo-ocular reflex.

Computational neuroethological modelling of the rat facial whiskers (2008)
Presentation / Conference Contribution

Fuzzy classifier system architectures for mobile robotics: An experimental comparison (2007)
Journal Article

We present an experimental comparison between two approaches to optimization of the rules for a fuzzy controller. More specifically, the problem is autonomous acquisition of an "investigative" obstacle avoidance competency for a mobile robot. We repo... Read More about Fuzzy classifier system architectures for mobile robotics: An experimental comparison.

Implementing spiking neural networks for real-time signal-processing and control applications: A model-validated FPGA approach (2007)
Journal Article

In this paper, we present two versions of a hardware processing architecture for modeling large networks of leaky-integrate-and-fire (LIF) neurons; the second version provides performance enhancing features relative to the first. Both versions of the... Read More about Implementing spiking neural networks for real-time signal-processing and control applications: A model-validated FPGA approach.

Whiskerbot: A robotic active touch system modeled on the rat whisker sensory system (2007)
Journal Article

The Whiskerbot project is a collaborative project between robotics engineers, computational neuroscientists and ethologists, aiming to build a biologically inspired robotic implementation of the rodent whisker sensory system. The morphology and mech... Read More about Whiskerbot: A robotic active touch system modeled on the rat whisker sensory system.

Embryonics: A path to artificial life? (2006)
Journal Article

Electronic systems, no matter how clever and intelligent they are, cannot yet demonstrate the reliability that biological systems can. Perhaps we can learn from these processes, which have developed through millions of years of evolution, in our purs... Read More about Embryonics: A path to artificial life?.

Convergence synthesis of dynamic frequency modulation tones using an evolution strategy (2005)
Presentation / Conference Contribution

This paper reports on steps that have been taken to enhance previously presented evolutionary sound matching work. In doing so, the convergence characteristics are shown to provide a synthesis method that produces interesting sounds. The method imple... Read More about Convergence synthesis of dynamic frequency modulation tones using an evolution strategy.