Tony Pipe's Outputs (83)

Perception of own and robot engagement in human-robot interactions and their dependence on robotics knowledge (2013)
Presentation / Conference Contribution

Communication between socially assistive robots and humans might be facilitated by intuitively understandable mechanisms. To investigate the effects of some key nonverbal gestures on a human's own engagement and robot engagement experienced by humans... Read More about Perception of own and robot engagement in human-robot interactions and their dependence on robotics knowledge.

Hand exoskeleton for remote control of minimally invasive surgical anthropomorphic instrumentation (2013)
Presentation / Conference Contribution

SABRE: A bio-inspired fault-tolerant electronic architecture (2013)
Journal Article

As electronic devices become increasingly complex, ensuring their reliable, fault-free operation is becoming correspondingly more challenging. It can be observed that, in spite of their complexity, biological systems are highly reliable and fault tol... Read More about SABRE: A bio-inspired fault-tolerant electronic architecture.

TACTIP - Tactile fingertip device, texture analysis through optical tracking of skin features (2013)
Presentation / Conference Contribution

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.

Bioinspired control of electro-active polymers for next generation soft robots (2012)
Presentation / Conference Contribution

The emerging field of soft robotics offers the prospect of replacing existing hard actuator technologies with new soft-smart materials [7]. Such materials have the potential to form a key component of safer, more compliant and light-weight robots. So... Read More about Bioinspired control of electro-active polymers for next generation soft robots.

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.

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.

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.

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.

The effects of robot performed co-verbal gestures on listener behaviour (2011)
Presentation / Conference Contribution

Affective robotics: Human motion and behavioural inspiration for safe cooperation between humans and humanoid assistive robots (2011)
Book Chapter

Evolving cell array configurations using CGP (2011)
Presentation / Conference Contribution

A cell array is a proposed type of custom FPGA, where digital circuits can be formed from interconnected configurable cells. In this paper we have presented a means by which CGP might be adapted to evolve configurations of a proposed cell array. As p... Read More about Evolving cell array configurations using CGP.

Biomimetic vibrissal sensing for robots (2011)
Journal Article

Active vibrissal touch can be used to replace or to supplement sensory systems such as computer vision and, therefore, improve the sensory capacity of mobile robots. This paper describes how arrays of whisker-like touch sensors have been incorporated... Read More about Biomimetic vibrissal sensing for robots.

Adaptive cancelation of self-generated sensory signals in a whisking robot (2010)
Journal Article

Sensory signals are often caused by ones own active movements. This raises a problem of discriminating between self-generated sensory signals and signals generated by the external world. Such discrimination is of general importance for robotic system... Read More about Adaptive cancelation of self-generated sensory signals in a whisking robot.

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.