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A novel mirror neuron inspired decision-making architecture for human–robot interaction (2023)
Journal Article
Sobhani, M., Smith, J., Pipe, A., & Peer, A. (in press). A novel mirror neuron inspired decision-making architecture for human–robot interaction. International Journal of Social Robotics, https://doi.org/10.1007/s12369-023-00988-0

Inspired by the role of mirror neurons and the importance of predictions in joint action, a novel decision-making structure is proposed, designed and tested for both individual and dyadic action. The structure comprises models representing individual... Read More about A novel mirror neuron inspired decision-making architecture for human–robot interaction.

Usability study of a novel triple-arm mixed-reality robot teleoperation system (2023)
Conference Proceeding
Sobhani, M., Smith, A., Giuliani, M., & Pipe, T. (2023). Usability study of a novel triple-arm mixed-reality robot teleoperation system. In IEEE 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) (217-223). https://doi.org/10.1109/ssrr56537.2022.10018630

The usability of a novel triple-arm mixed-reality robot teleoperation system is investigated. The system is developed to provide a sense of remote presence for the operator. Different types of interfaces and camera setups have been proposed previousl... Read More about Usability study of a novel triple-arm mixed-reality robot teleoperation system.

On determinism of game engines used for simulation-based autonomous vehicle verification (2022)
Journal Article
Chance, G., Ghobrial, A., McAreavey, K., Lemaignan, S., Pipe, T., & Eder, K. (2022). On determinism of game engines used for simulation-based autonomous vehicle verification. IEEE Transactions on Intelligent Transportation Systems, 23(11), 1-15. https://doi.org/10.1109/TITS.2022.3177887

Game engines are increasingly used as simulation platforms by the autonomous vehicle community to develop vehicle control systems and test environments. A key requirement for simulation-based development and verification is determinism, since a deter... Read More about On determinism of game engines used for simulation-based autonomous vehicle verification.

Automated extraction of 3D printed parts from unfused PA12 powder using a one-shot 3D printed compliant gripper (2021)
Journal Article
Cormack, J., Fotouhi, M., Adams, G., & Pipe, T. (2021). Automated extraction of 3D printed parts from unfused PA12 powder using a one-shot 3D printed compliant gripper. IEEE Robotics and Automation Letters, 6(4), 8655-8662. https://doi.org/10.1109/lra.2021.3113383

Automated individual part extraction from powder based 3D printers has the potential to save time and cost compared with fully manual part extraction, or part sorting following automated bulk separation of parts and unfused powder. This work details... Read More about Automated extraction of 3D printed parts from unfused PA12 powder using a one-shot 3D printed compliant gripper.

ShearTouch - Towards a wearable tactile feedback device to provide continuous shear force sensation in real time (2020)
Conference Proceeding
Wells, O., Pipe, T., Dogramadzi, S., & Studley, M. (2020). ShearTouch - Towards a wearable tactile feedback device to provide continuous shear force sensation in real time. In Towards Autonomous Robotic Systems (287-298). https://doi.org/10.1007/978-3-030-63486-5_30

Force feedback in current teleoperation systems typically only provides haptic/kinaesthetic feedback to operators in the form of normal forces. However, it is proposed in this paper that the introduction of shear (or lateral) force feedback to operat... Read More about ShearTouch - Towards a wearable tactile feedback device to provide continuous shear force sensation in real time.

One-shot 3D printed underactuated gripper (2020)
Conference Proceeding
Cormack, J., Fotouhi, M., Adams, G., & Pipe, A. (2020). One-shot 3D printed underactuated gripper. In A. Mohammad, X. Dong, & M. Russo (Eds.), Towards Autonomous Robotic Systems (400-404). https://doi.org/10.1007/978-3-030-63486-5_41

Underactuated gripping mechanisms allow a wide range of objects to be grasped, with relatively simple control and input. Current 3D printed underactuated grippers are often composed of multiple parts that need assembly before use. Consolidating many... Read More about One-shot 3D printed underactuated gripper.

Usability study of a robot companion for monitoring industrial processes (2020)
Conference Proceeding
Sita, E., Thomessen, T., Pipe, A. G., Studley, M., & Dailami, F. (2020). Usability study of a robot companion for monitoring industrial processes. In 2020 5th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) (37-42). https://doi.org/10.1109/acirs49895.2020.9162607

In this paper we present the findings of a usability study for a monitoring robotic unit tele-operated via a virtual fixtures (VF) based control framework. The study aims at investigating the impact of VF on the robot navigation as well as the impact... Read More about Usability study of a robot companion for monitoring industrial processes.

A connected autonomous vehicle testbed: Capabilities, experimental processes and lessons learned (2020)
Journal Article
Kent, T., Pipe, A., Richards, A., Hutchinson, J., & Schuster, W. (2020). A connected autonomous vehicle testbed: Capabilities, experimental processes and lessons learned. Automation, 1(1), 17-32. https://doi.org/10.3390/automation1010002

VENTURER was one of the first three UK government funded research and innovation projects on Connected Autonomous Vehicles (CAVs) and was conducted predominantly in the South West region of the country. A series of increasingly complex scenarios cond... Read More about A connected autonomous vehicle testbed: Capabilities, experimental processes and lessons learned.

Examining profiles for robotic risk assessment: Does a robot's approach to risk affect user trust? (2020)
Conference Proceeding
Bridgwater, T., Giuliani, M., van Maris, A., Baker, G., Winfield, A., & Pipe, T. (2020). Examining profiles for robotic risk assessment: Does a robot's approach to risk affect user trust?. In Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction. , (23-31). https://doi.org/10.1145/3319502.3374804

© 2020 Association for Computing Machinery. As autonomous robots move towards ubiquity, the need for robots to make decisions under risk that are trustworthy becomes increasingly significant; both to aid acceptance and to fully utilise their autonomo... Read More about Examining profiles for robotic risk assessment: Does a robot's approach to risk affect user trust?.

A corroborative approach to verification and validation of human–robot teams (2019)
Journal Article
Webster, M., Western, D., Araiza-Illan, D., Dixon, C., Eder, K., Fisher, M., & Pipe, A. G. (2020). A corroborative approach to verification and validation of human–robot teams. International Journal of Robotics Research, 39(1), 73-99. https://doi.org/10.1177/0278364919883338

© The Author(s) 2019. We present an approach for the verification and validation (V&V) of robot assistants in the context of human–robot interactions, to demonstrate their trustworthiness through corroborative evidence of their safety and functional... Read More about A corroborative approach to verification and validation of human–robot teams.

Feed-forward selection of cerebellar models for calibration of robot sound source localization (2019)
Conference Proceeding
Baxendale, M. D., Nibouche, M., Secco, E. L., Pipe, A. G., & Pearson, M. J. (2019). Feed-forward selection of cerebellar models for calibration of robot sound source localization. https://doi.org/10.1007/978-3-030-24741-6_1

© 2019, Springer Nature Switzerland AG. We present a responsibility predictor, based on the adaptive filter model of the cerebellum, to provide feed-forward selection of cerebellar calibration models for robot Sound Source Localization (SSL), based o... Read More about Feed-forward selection of cerebellar models for calibration of robot sound source localization.

Robot companion for industrial process monitoring based on virtual fixtures (2018)
Conference Proceeding
Sita, E., Thomessen, T., Pipe, A. G., Dailami, F., & Studley, M. (2018). Robot companion for industrial process monitoring based on virtual fixtures. . https://doi.org/10.1109/IECON.2018.8591105

© 2018 IEEE. In this paper, the use of a monitoring companion is proposed to more efficiently collect the process information during the tuning of industrial systems, and therefore to assist the system integrator in the optimization process for compl... Read More about Robot companion for industrial process monitoring based on virtual fixtures.

ROS-Unity3D based system for monitoring of an industrial robotic process (2018)
Conference Proceeding
Sita, E., Horváth, C. M., Thomessen, T., Korondi, P., & Pipe, A. G. (2018). ROS-Unity3D based system for monitoring of an industrial robotic process. . https://doi.org/10.1109/SII.2017.8279361

© 2017 IEEE. Planning and monitoring the manufacturing of high quality one-of-a-kind products are challenging tasks. In the implementation of an industrial system, the commissioning phase is typically comprised of a programming phase and an optimizat... Read More about ROS-Unity3D based system for monitoring of an industrial robotic process.

Towards multimodal interactions: Robot jogging in mixed reality (2017)
Conference Proceeding
Sita, E., Studley, M., Dailami, F., Pipe, A. G., & Thomessen, T. (2017). Towards multimodal interactions: Robot jogging in mixed reality. In Proceedings of the 23rd ACM Symposium on Virtual Reality Software and Technology - VRST '17 (1-2). https://doi.org/10.1145/3139131.3141200

© 2017 Copyright held by the owner/author(s). The recent progress made in the field of Augmented Reality/Mixed Reality (AR/MR) has opened new possibilities and approaches to research areas that can benefit from 3D visualization of digital content in... Read More about Towards multimodal interactions: Robot jogging in mixed reality.

Self-adaptive context aware audio localization (2017)
Book Chapter
Baxendale, M., Pearson, M. J., Nibouche, M., Secco, M., & Pipe, A. G. (2017). Self-adaptive context aware audio localization. In C. Lekakou, Y. Jin, S. Fallah, & G. Yang (Eds.), Towards Autonomous Robotic Systems (66-78). LNCS 10454: Springer link

An audio sensor system is presented that uses multiple cere- bellar models to determine the acoustic environment in which a robot is operating, allowing the robot to select appropriate models to calibrate its audio-motor map for the detected environ... Read More about Self-adaptive context aware audio localization.

Toward Bio-Inspired Tactile Sensing Capsule Endoscopy for Detection of Submucosal Tumors (2016)
Journal Article
Pipe, T., Winstone, B., Melhuish, C., Pipe, A. G., Callaway, M., & Dogramadzi, S. (2017). Toward Bio-Inspired Tactile Sensing Capsule Endoscopy for Detection of Submucosal Tumors. IEEE Sensors Journal, 17(3), 848-857. https://doi.org/10.1109/JSEN.2016.2627798

© 2016 IEEE. Here, we present a method for lump characterization using a bio-inspired remote tactile sensing capsule endoscopy system. While current capsule endoscopy utilizes cameras to diagnose lesions on the surface of the gastrointestinal tract l... Read More about Toward Bio-Inspired Tactile Sensing Capsule Endoscopy for Detection of Submucosal Tumors.

Design of a multi-DOF cable-driven mechanism of a miniature serial manipulator for robot-assisted minimally invasive surgery (2016)
Presentation / Conference
Tzemanaki, A., Fracczak, L., Gillatt, D., Koupparis, A., Melhuish, C., Persad, R., …Dogramadzi, S. (2016, June). Design of a multi-DOF cable-driven mechanism of a miniature serial manipulator for robot-assisted minimally invasive surgery. Presented at International Conference on Biomedical Robotics and Biomechatronics, Singapore

While multi-fingered robotic hands have been developed for decades, none has been used for surgical operations. MicroAngelo is an anthropomorphic master-slave system for tele-operated robot-assisted surgery. As part of this system, this paper focuses... Read More about Design of a multi-DOF cable-driven mechanism of a miniature serial manipulator for robot-assisted minimally invasive surgery.

A Novel Design for a Robot Grappling Hook for use in a Nuclear Cave Environment (2016)
Journal Article
Bridgwater, T., Griffiths, G., Winfield, A., & Pipe, T. (2016). A Novel Design for a Robot Grappling Hook for use in a Nuclear Cave Environment. IFAC-PapersOnLine, 49(21), 288-293. https://doi.org/10.1016/j.ifacol.2016.10.569

© 2016 Within the field of robotics there exist few designs for detachable grappling hooks. This paper focusses on the novel design of a detachable grappling hook for use within a nuclear cave environment. The design seeks to exploit the complex netw... Read More about A Novel Design for a Robot Grappling Hook for use in a Nuclear Cave Environment.

Towards model-based robot behaviour adaptation: Successful human-robot collaboration in tense and stressful situations (2015)
Conference Proceeding
Dogramadzi, S., Pipe, A. G., Sobhani, M. M., Sobhani, M., Pipe, A. G., Dogramadzi, S., & Fennell, J. G. (2015). Towards model-based robot behaviour adaptation: Successful human-robot collaboration in tense and stressful situations. In 2015 23rd Iranian Conference on Electrical Engineering. , (922-927). https://doi.org/10.1109/IranianCEE.2015.7146343

© 2015 IEEE. In a demanding environment such as search and rescue, where human-robot collaboration provides potential benefits, understanding complex human behaviour will promote greater success. We propose that robots need to be equipped with embodi... Read More about Towards model-based robot behaviour adaptation: Successful human-robot collaboration in tense and stressful situations.

The robot vibrissal system: Understanding mammalian sensorimotor co-ordination through biomimetics (2015)
Book Chapter
Prescott, T. J., Mitchinson, B., Lepora, N. F., Wilson, S. P., Anderson, S. R., Porrill, J., …Pipe, A. G. (2015). The robot vibrissal system: Understanding mammalian sensorimotor co-ordination through biomimetics. In A. Groh, & P. Krieger (Eds.), Sensorimotor Integration in the Whisker System (213-240). Springer. https://doi.org/10.1007/978-1-4939-2975-7_10

© Springer Science+Business Media, LLC 2015. We consider the problem of sensorimotor co-ordination in mammals through the lens of vibrissal touch, and via the methodology of embodied computational neuroscience-using biomimetic robots to synthesize an... Read More about The robot vibrissal system: Understanding mammalian sensorimotor co-ordination through biomimetics.

Measuring the local viscosity and velocity of fluids using a biomimetic tactile whisker (2015)
Journal Article
Pipe, T., Rooney, T., Pearson, M. J., & Pipe, A. G. (2015). Measuring the local viscosity and velocity of fluids using a biomimetic tactile whisker. Lecture Notes in Artificial Intelligence, 9222, 75-85. https://doi.org/10.1007/978-3-319-22979-9_7

© Springer International Publishing Switzerland 2015. A novel technique for determining the relative visco-density of fluids using an actuated flexible beam inspired by the tactile whiskers of marine mammals is presented. This was developed for the i... Read More about Measuring the local viscosity and velocity of fluids using a biomimetic tactile whisker.

An anthropomorphic design for a minimally invasive surgical system based on a survey of surgical technologies, techniques and training (2014)
Journal Article
Tzemanaki, A., Walters, P., Pipe, A. G., Melhuish, C., & Dogramadzi, S. (2014). An anthropomorphic design for a minimally invasive surgical system based on a survey of surgical technologies, techniques and training. International Journal of Medical Robotics and Computer Assisted Surgery, 10(3), 368-378. https://doi.org/10.1002/rcs.1544

© 2013 John Wiley & Sons, Ltd. Background: Over the past century, abdominal surgery has seen a rapid transition from open procedures to less invasive methods, such as robot-assisted minimally invasive surgery (MIS). This study aimed to investigate... Read More about An anthropomorphic design for a minimally invasive surgical system based on a survey of surgical technologies, techniques and training.

μAngelo: A novel minimally invasive surgical system based on an anthropomorphic design (2014)
Presentation / Conference
Tzemanaki, A., Burton, T. M. W., Gillat, D., Melhuish, C., Persad, R., Pipe, A. G., & Dogramadzi, S. (2014, August). μAngelo: A novel minimally invasive surgical system based on an anthropomorphic design. Paper presented at 2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Sao Paulo, Brazil

Abdominal surgery has seen a rapid transition from open procedures to Robot-Assisted Minimally Invasive Surgery (R-A MIS). The learning process for new surgeons is long compared to open surgery, and the desired dexterity cannot always be achieved usi... Read More about μAngelo: A novel minimally invasive surgical system based on an anthropomorphic design.

Mechatronic implementation in minimally invasive surgical instruments (2014)
Presentation / Conference
Dikaiakos, G., Tzemanaki, A., Pipe, A. G., & Dogramadzi, S. (2014, August). Mechatronic implementation in minimally invasive surgical instruments. Paper presented at 2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Sao Paulo, Brazil

Minimally invasive surgery (MIS) has proven to be beneficial in providing outstanding results for the patients. However, studies have shown that the surgeon faces significant challenges whilst performing this type of surgery, ranging from poorly desi... Read More about Mechatronic implementation in minimally invasive surgical instruments.

Remotely deployable aerial inspection using tactile sensors (2014)
Journal Article
Macleod, C. N., Cao, J., Pierce, S. G., Sullivan, J. C., Pipe, A. G., Dobie, G., & Summan, R. (2014). Remotely deployable aerial inspection using tactile sensors. AIP Conference Proceedings, 1581, 1873-1880. https://doi.org/10.1063/1.4865052

For structural monitoring applications, the use of remotely deployable Non-Destructive Evaluation (NDE) inspection platforms offer many advantages, including improved accessibility, greater safety and reduced cost, when compared to traditional manual... Read More about Remotely deployable aerial inspection using tactile sensors.

Seeing by touch: Evaluation of a soft biologically-inspired artificial fingertip in real-time active touch (2014)
Journal Article
Assaf, T., Roke, C., Rossiter, J., Pipe, T., & Melhuish, C. (2014). Seeing by touch: Evaluation of a soft biologically-inspired artificial fingertip in real-time active touch. Sensors, 14(2), 2561-2577. https://doi.org/10.3390/s140202561

Effective tactile sensing for artificial platforms remains an open issue in robotics. This study investigates the performance of a soft biologically-inspired artificial fingertip in active exploration tasks. The fingertip sensor replicates the mechan... Read More about Seeing by touch: Evaluation of a soft biologically-inspired artificial fingertip in real-time active touch.

A novel bio-inspired tactile tumour detection concept for capsule endoscopy (2014)
Journal Article
Pipe, T., Winstone, B., Melhuish, C., Dogramadzi, S., Pipe, A. G., & Callaway, M. (2014). A novel bio-inspired tactile tumour detection concept for capsule endoscopy. Lecture Notes in Artificial Intelligence, 8608 LNAI, 442-445. https://doi.org/10.1007/978-3-319-09435-9_56

Examination of the gastrointestinal(GI) tract has traditionally been performed using endoscopy tools that allow a surgeon to see the inside of the lining of the digestive tract. Endoscopes are rigid or flexible tubes that use fibre-optics or cameras... Read More about A novel bio-inspired tactile tumour detection concept for capsule endoscopy.

Hardware architecture of the protein processing associative memory and the effects of dimensionality and quantisation on performance (2014)
Journal Article
Qadir, O., Lenz, A., Tempesti, G., Timmis, J., Pipe, T., & Tyrrell, A. (2014). Hardware architecture of the protein processing associative memory and the effects of dimensionality and quantisation on performance. Genetic Programming and Evolvable Machines, 15(3), 245-274. https://doi.org/10.1007/s10710-014-9217-1

The Protein Processor Associative Memory (PPAM) is a novel hardware architecture for a distributed, decentralised, robust and scalable, bidirectional, hetero-associative memory, that can adapt online to changes in the training data. The PPAM uses the... Read More about Hardware architecture of the protein processing associative memory and the effects of dimensionality and quantisation on performance.

Compliance control and human-robot interaction: Part II-experimental examples (2014)
Journal Article
Pipe, T., Khan, S. G., Herrmann, G., Lenz, A., Grafi, M. A., Pipe, A. G., & Melhuish, C. (2014). Compliance control and human-robot interaction: Part II-experimental examples. International Journal of Humanoid Robotics, 11(03), 1430002. https://doi.org/10.1142/S0219843614300025

© World Scientific Publishing Company. Compliance control is highly relevant to human safety in human-robot interaction (HRI). This paper presents multi-dimensional compliance control of a humanoid robot arm. A dynamic model-free adaptive controller... Read More about Compliance control and human-robot interaction: Part II-experimental examples.

Compliance control and human-Robot interaction: Part 1-survey (2014)
Journal Article
Khan, S. G., Herrmann, G., Grafi, M. A., Pipe, T., & Melhuish, C. (2014). Compliance control and human-Robot interaction: Part 1-survey. International Journal of Humanoid Robotics, 11(03), 1430001. https://doi.org/10.1142/S0219843614300013

© World Scientific Publishing Company. Compliance control is highly relevant to human safety in human-robot interaction (HRI). This paper presents a review of various compliance control techniques. The paper is aimed to provide a good background know... Read More about Compliance control and human-Robot interaction: Part 1-survey.

A variable compliance, soft gripper (2013)
Journal Article
Giannaccini, M. E., Georgilas, I., Horsfield, I., Peiris, B. H. P. M., Lenz, A., Pipe, A. G., & Dogramadzi, S. (2014). A variable compliance, soft gripper. Autonomous Robots, 36(1-2), 93-107. https://doi.org/10.1007/s10514-013-9374-8

Autonomous grasping is an important but challenging task and has therefore been intensively addressed by the robotics community. One of the important issues is the ability of the grasping device to accommodate varying object shapes in order to form a... Read More about A variable compliance, soft gripper.

Bootstrapping a robot's kinematic model (2013)
Journal Article
Broun, A., Beck, C., Pipe, T., Mirmehdi, M., & Melhuish, C. (2014). Bootstrapping a robot's kinematic model. Robotics and Autonomous Systems, 62(3), 330-339. https://doi.org/10.1016/j.robot.2013.09.011

We present a system that is able to autonomously build a 3D model of a robot's hand, along with a kinematic model of the robot's arm, beginning with very little information. The system starts by using exploratory motions to locate and centre the robo... Read More about Bootstrapping a robot's kinematic model.

Simultaneous localisation and mapping on a multi-degree of freedom biomimetic whiskered robot (2013)
Conference Proceeding
Pearson, M., Fox, C. W., Sullivan, J. C., Prescott, T. J., Pipe, T., & Mitchinson, B. (2013). Simultaneous localisation and mapping on a multi-degree of freedom biomimetic whiskered robot. In L. E. Parker (Ed.), 2013 IEEE International Conference on Robotics and Automation (586-592). https://doi.org/10.1109/ICRA.2013.6630633

A biomimetic mobile robot called 'Shrewbot' has been built as part of a neuroethological study of the mammalian facial whisker sensory system. This platform has been used to further evaluate the problem space of whisker based tactile Simultaneous Loc... Read More about Simultaneous localisation and mapping on a multi-degree of freedom biomimetic whiskered robot.

Biomimetic tactile target acquisition, tracking and capture (2013)
Journal Article
Prescott, T. J., Pearson, M. J., Mitchinson, B., Pearson, M., Pipe, A. G., & Prescott, T. (2014). Biomimetic tactile target acquisition, tracking and capture. Robotics and Autonomous Systems, 62(3), 366-375. https://doi.org/10.1016/j.robot.2013.08.013

Good performance in unstructured/uncertain environments is an ongoing problem in robotics; in biology, it is an everyday observation. Here, we model a particular biological system - hunting in the Etruscan shrew - as a case study in biomimetic robot... Read More about Biomimetic tactile target acquisition, tracking and capture.

TACTIP - Tactile fingertip device, texture analysis through optical tracking of skin features (2013)
Conference Proceeding
Rossiter, J., Winstone, B., Griffiths, G., Pipe, T., & Melhuish, C. (2013). TACTIP - Tactile fingertip device, texture analysis through optical tracking of skin features. In N. Lepora, A. Mura, H. Krapp, P. Verschure, & T. Prescott (Eds.), Biomimetic and Biohybrid Systems (323-334). https://doi.org/10.1007/978-3-642-39802-5_28

In this paper we present texture analysis results for TACTIP, a versatile tactile sensor and artificial fingertip which exploits compliant materials and optical tracking. In comparison to previous MEMS sensors, the TACTIP device is especially suited... Read More about TACTIP - Tactile fingertip device, texture analysis through optical tracking of skin features.

Towards a Platform-Independent Cooperative Human Robot Interaction System: III. An Architecture for Learning and Executing Actions and Shared Plans (2012)
Journal Article
Lallée, S., Pattacini, U., Lemaignan, S., Lenz, A., Melhuish, C., Natale, L., …Dominey, P. F. (2012). Towards a Platform-Independent Cooperative Human Robot Interaction System: III. An Architecture for Learning and Executing Actions and Shared Plans. IEEE Transactions on Autonomous Mental Development, 4(3), 239-253. https://doi.org/10.1109/TAMD.2012.2199754

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.

Towards a variable compliance hydrostatic skeleton inspired gripper (2012)
Journal Article
Zheng, Y., Giannaccini, M. E., Dogramadzi, S., & Pipe, A. G. (2012). Towards a variable compliance hydrostatic skeleton inspired gripper. Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 246-251. https://doi.org/10.1109/BioRob.2012.6290885

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.

Towards tactile sensing applied to underwater autonomous vehicles for near shore survey and de-mining (2012)
Journal Article
Rooney, T., Pipe, A. G., Dogramadzi, S., & Pearson, M. (2012). Towards tactile sensing applied to underwater autonomous vehicles for near shore survey and de-mining. Lecture Notes in Artificial Intelligence, 7429 LNAI, 463-464. https://doi.org/10.1007/978-3-642-32527-4_60

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.

Predictive prey pursuit in a whiskered robot (2012)
Presentation / Conference
Mitchinson, B., Pearson, M., Pipe, A. G., & Prescott, T. J. (2012, August). Predictive prey pursuit in a whiskered robot. Paper presented at FIRA-TAROS congress, Bristol, UK

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 an anthropomorphic design of minimally invasive instrumentation for soft tissue robotic surgery (2012)
Journal Article
Pipe, T., Tzemanaki, A., Dogramadzi, S., Pipe, A. G., & Melhuish, C. (2012). Towards an anthropomorphic design of minimally invasive instrumentation for soft tissue robotic surgery. Lecture Notes in Artificial Intelligence, 7429 LNAI, 455-456. https://doi.org/10.1007/978-3-642-32527-4_56

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.

The emergence of action sequences from spatial attention: Insight from rodent-like robots (2012)
Presentation / Conference
attention: Insight from rodent-like robots. Paper presented at Living Machines 2012, Barcelona, Spain

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
Rooney, T., Pipe, A. G., Dogramadzi, S., & Pearson, M. (2012). Towards tactile sensing applied to underwater autonomous vehicles for near shore survey and de-mining. Lecture Notes in Artificial Intelligence, 7429, 463-464. https://doi.org/10.1007/978-3-642-32527-4_60

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.

Safe adaptive compliance control of a humanoid robotic arm with anti-windup compensation and posture control (2010)
Journal Article
Spiers, A., Pipe, T., Khan, S. G., Herrmann, G., Pipe, A. G., & Melhuish, C. (2010). Safe adaptive compliance control of a humanoid robotic arm with anti-windup compensation and posture control. International Journal of Social Robotics, 2(3), 305-319. https://doi.org/10.1007/s12369-010-0058-7

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.

Whisking with robots: From rat vibrissae to biomimetic technology for active touch (2009)
Journal Article
Prescott, T. J., Pearson, M., Mitchinson, B., Sullivan, J. C. W., & Pipe, A. G. (2009). Whisking with robots: From rat vibrissae to biomimetic technology for active touch. IEEE Robotics and Automation Magazine, 16(3), 42-50. https://doi.org/10.1109/MRA.2009.933624

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
Deittert, M., Toomer, C., Richards, A., & Pipe, A. (2009). Engineless unmanned aerial vehicle propulsion by dynamic soaring. Journal of Guidance, Control, and Dynamics, 32(5), 1446-1457. https://doi.org/10.2514/1.43270

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.

Dynamic soaring flight in turbulence (2009)
Presentation / Conference
Deittert, M., Richards, A., Toomer, C., & Pipe, A. G. (2009, August). Dynamic soaring flight in turbulence. Paper presented at Navigation & Control Conference, Chicago USA

Contact type dependency of texture classification in a whiskered mobile robot (2009)
Journal Article
Fox, C. W., Mitchinson, B., Pearson, M., Pipe, A. G., & Prescott, T. J. (2009). Contact type dependency of texture classification in a whiskered mobile robot. Autonomous Robots, 26(4), 223-239. https://doi.org/10.1007/s10514-009-9109-z

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
Anderson, S. R., Lenz, A., Anderson, S. A., Pipe, A. G., Melhuish, C., Dean, P., & Porrill, J. (2009). Cerebellar-inspired adaptive control of a robot eye actuated by pneumatic artificial Muscles. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, 39(6), 1420-1433. https://doi.org/10.1109/TSMCB.2009.2018138

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)
Conference Proceeding
Kiely, J., Kohrt, C., Pipe, A. G., Schiedermeier, G., & Stamp, R. (2008). A robot manipulator communications and control framework. In N. NA (Ed.), International Conference on Mechatronics and Automation, 2008 (846-851). https://doi.org/10.1109/ICMA.2008.4798867

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)
Conference Proceeding
Sindi, Y., Pipe, T., Dogramadzi, S., Winfield, A., & Melhuish, C. (2008). A feasibility study for energy autonomy in multi robot search and rescue operations. In L. Marques, A. D. Almeida, M. Tokhi, & G. Virk (Eds.), Advances in Mobile Robotics: Proceedings of the Eleventh International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Coimbra, Portugal, 8-10 September 2008 (1146-1153). https://doi.org/10.1142/9789812835772_0137

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
Lenz, A., Balakrishnan, T., Pipe, A. G., & Melhuish, C. (2008). An adaptive gaze stabilization controller inspired by the vestibulo-ocular reflex. Bioinspiration and Biomimetics, 3(3), https://doi.org/10.1088/1748-3182/3/3/035001

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.

Application of Multi-Agent Technology to Fault Diagnosis of Power Distribution Systems (2005)
Journal Article
Yang, J., Montakhab, M., Pipe, A. G., Carse, B., & Davies, T. S. (2005). Application of Multi-Agent Technology to Fault Diagnosis of Power Distribution Systems. International Journal of Intelligent Information Technologies, 1(2), 1-16. https://doi.org/10.4018/jiit.2005040101

When a fault occurs in a power system, the protective relays detect the fault and trip appropriate circuit breakers, which isolate the affected equipment from the rest of the power system. Fault diagnosis of power systems is the process of identifyin... Read More about Application of Multi-Agent Technology to Fault Diagnosis of Power Distribution Systems.

Convergence synthesis of dynamic frequency modulation tones using an evolution strategy (2005)
Conference Proceeding
Mitchell, T. J., & Pipe, A. G. (2005). Convergence synthesis of dynamic frequency modulation tones using an evolution strategy. In F. Rothlauf, J. Branke, S. Cagnoni, D. Wolfe Corne, R. Drechsler, Y. Jin, …G. Squillero (Eds.), Applications on Evolutionary Computing. , (533-538). https://doi.org/10.1007/978-3-540-32003-6_54

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.