Publications

Neuroscience/robotics - books and editorials
  1. T. Prescott, N. Lepora and P. Verschure (Editors). Living Machines: A handbook of research in biomimetics. Oxford University Press, 2017.
  2. M. Mangan, M. Cutkosky, A. Mura, P. Verschure, T. Prescott and N. Lepora (Editors). Living Machines: The sixth international conference on biomimetic and biohybrid systems. Springer, 2017. (book)
  3. N. Lepora, A. Mura, M. Mangan, P. Verschure, M. Desmulliez and T. Prescott (Editors). Living Machines: The fifth international conference on biomimetic and biohybrid systems. Springer, 2016. (book)
  4. Y. Visell, N. Lepora, M. Hartmann and V. Hayward (Editors). Biology to Technology in Active Touch Sensing: Introduction to the Special Issue. IEEE Transactions on Haptics 9(2):155-157, 2016. (editorial)
  5. A. Duff, N. Lepora, A. Mura, T. Prescott and P. Verschure (Editors). Living Machines: The third international conference on biomimetic and biohybrid systems. Springer, 2014. (book)
  6. N. Lepora, A. Mura, H. Krapp, P. Verschure and T. Prescott (Editors). Living Machines: The second international conference on biomimetic and biohybrid systems. Springer, 2013. (book)
  7. N. Lepora, A. Mura, P. Verschure and T. Prescott (Guest Editors). Foreword: Living Machines: The first international conference on biomimetic and biohybrid systems. Bioinspiration and biomimetics 8(3): 030201 2013. (editorial)
  8. T. Prescott, N. Lepora, A. Mura and P. Verschure (Editors). Living Machines: The first international conference on biomimetic and biohybrid systems. Springer, 2012. (book)
Neuroscience/robotics - refereed articles


2017
  1. N. Lepora, K. Aquilina, L. Cramphorn. Exploratory tactile servoing with active touch. IEEE Robotics and Automation Letters 2(2), 1156-1163, 2017. Also published in: Robotics and Automation (ICRA), 2017. (preprint, paper, data, video)
  2. N. Lepora, P. Verschure, T. Prescott. Roadmap for Living Machines. In: A Handbook of Living Machines. (in press)
  3. N. Lepora. Decision making. In: A Handbook of Living Machines. (in press)
  4. N. Lepora. Touch. In: A Handbook of Living Machines. (in press)
  5. U. Martinez-Hernandez, T. Dodd, M. Evans, T. Prescott, N. Lepora. Active sensorimotor control for tactile exploration. Robotics and Autonomous Systems 87, 15-27, 2017. (preprint, paper)
  6. B. Ward-Cherrier, N. Rojas, N. Lepora. Model-free precise in-hand manipulation with a 3d-printed tactile gripper. IEEE Robotics and Automation Letters 2(4), 2056-2063, 2017. Also published in: Intelligent Robots and Systems (IROS), 2017. (preprint, paper, data, video)
  7. B. Ward-Cherrier, L. Cramphorn, N. Lepora. Exploiting sensor symmetry for generalized tactile perception in biomimetic touch. IEEE Robotics and Automation Letters 2(2), 1218-1225, 2017. Also published in: Robotics and Automation (ICRA), 2017. (preprint, paper, data, video)
  8. L. Cramphorn, B. Ward-Cherrier, N. Lepora. Addition of a biomimetic fingerprint on an artificial fingertip enhances tactile spatial acuity. IEEE Robotics and Automation Letters 2(3), 1336-1343, 2017. (preprint, paper, data)
  9. C. Yang, N. Lepora. Object exploration using vision and active touch. IEEE/RSJ Intelligent Robots and Systems (IROS) 2017. (preprint, data)
2016
  1. N. Lepora. Biomimetic Active Touch with Tactile Fingertips and Whiskers. IEEE Transactions on Haptics 9(2), 170-183, 2016. (preprint, paper, data)
  2. N. Lepora. Threshold Learning for Optimal Decision making. In: Neural Information Processing Systems (NIPS), 2016. (paper, poster, data)
  3. N. Lepora, B. Ward-Cherrier. Tactile quality control with biomimetic active touch. IEEE Robotics and Automation Letters 1(2), 646-652, 2016. Also published in: Robotics and Automation (ICRA), 2016. (preprint, paper, data)
  4. N. Lepora. Active tactile perception. In: Scholarpedia of Touch, 151-159, Atlantis Press, 2016 (eds Prescott, Ahissar). (article)
  5. B. Ward-Cherrier, L. Cramphorn, N. Lepora. Tactile manipulation with a TacThumb integrated on the Open-Hand M2 Gripper. IEEE Robotics and Automation Letters 1(1), 169-175, 2016. (preprint, paper, data)
  6. L. Cramphorn, B. Ward-Cherrier, N. Lepora. Tactile manipulation with biomimetic active touch. In: Robotics and Automation (ICRA), 123-129, 2016. (preprint, paper, data)
2015
  1. N. Lepora and G. Pezzulo. Embodied choice: How action influences perceptual decision making. PLoS Computational Biology 11(3): e1004110. (paper, data)
  2. N. Lepora, U. Martinez-Hernandez, M. Evans, L. Natale, G. Metta and T. Prescott. Tactile superresolution and biomimetic hyperacuity. IEEE Transactions on Robotics 31(3), 605-618, 2015. (preprint, paper)
  3. N. Lepora and B. Ward-Cherrier. Superresolution with an optical tactile sensor. In: Intelligent Robots and Systems (IROS): 2686-2691, IEEE/RSJ, 2015. (preprint, paper, data)
  4. J. Cabellero, N. Lepora and K. Gurney. Probabilistic decision making with spikes: From ISI distributions to behaviour via Information Gain. PLoS ONE 10(4): e0124787. (paper)
  5. C. Calluso, G. Committeri, G. Pezzulo, N. Lepora, A. Tosoni. Analysis of hand kinematics reveals inter-individual differences in intertemporal decision dynamics. Experimental Brain Research 233(12): 3597-3611, 2015. (paper)
  6. U. Martinez-Hernandez, N. Lepora and T. Prescott. Active haptic shape recognition by intrinsic motivation with a robot hand. In World Haptics (WHC): 299-304, IEEE, 2015. (paper)
  7. U. Martinez-Hernandez, N. Lepora and T. Prescott. Active control for object perception and exploration with a robotic hand. In: Biomimetic and Biohybrid Systems (Living Machines): 415-428, LNCS, Springer, 2015. (paper)
  8. T. Prescott, B. Mitchinson, N. Lepora, S. Wilson, S. Anderson, J. Porrill, P. Dean, C. Fox, M. Pearson, J. Sullivan and T. Pipe. The Robot Vibrissal System: Understanding Mammalian Sensorimotor Co-ordination through Biomimetics. In: Sensorimotor Integration in the Whisker System (Eds P. Krieger, A. Groh), Springer, 2015.
2014
  1. T. Prescott, N. Lepora and P. Verschure. International trends and prospects in biomimetic and biohybrid systems. future of living machines? In: SPIE Smart Structures and Materials+ Nondestructive Evaluation and Health Monitoring, 905502-905502, 2014. (preprint, paper)
2013
  1. N. Lepora, P. Verschure and T. Prescott. The state of the art in biomimetics. Bioinspiration and Biomimetics 8(1): 013001, 2013. (preprint, paper)
    Note: Featured article. Leading downloaded paper in journal from 2013.
  2. N. Lepora, U. Martinez-Hernandez and T. Prescott. Active Bayesian perception for simultaneous object localization and identification. Robotics: Science and Systems (RSS), 2013. (paper, poster, presentation)
  3. N. Lepora, U. Martinez-Hernandez, G. Pezzulo and T. Prescott. Active Bayesian perception and reinforcement learning. In: Intelligent Robots and Systems (IROS): 4735-4740, IEEE/RSJ, 2013. (preprint, paper)
  4. N. Lepora, U. Martinez-Hernandez and T. Prescott. Active touch for robust perception under position uncertainty. In: Robotics and Automation (ICRA): 3005-3010, IEEE, 2013. (preprint, paper)
  5. N. Lepora, U. Martinez-Hernandez and T. Prescott. A SOLID case for active Bayesian perception in robot touch. In: Biomimetic and Biohybrid Systems (Living Machines): LNCS 8064, 154-166, Springer, 2013. (preprint, paper)
  6. U. Martinez-Hernandez, T. Dodd, T. Prescott and N. Lepora. Active Bayesian perception for angle and position discrimination with a biomimetic fingertip. In: Intelligent Robots and Systems (IROS): IEEE/RSJ, 2013. (preprint, paper)
  7. U. Martinez-Hernandez, T. Dodd, T. Prescott and N. Lepora. Active contour following to explore object shape. In: World Haptics Conference (WHC): 341-346, IEEE, 2013. (preprint, paper)
  8. K. Gurney, N. Lepora, A. Shah, A. Koene and P. Redgrave. Intrinsically motivated action discovery: A biologically constrained formalisation. In: Intrinsically Motivated Learning in Natural and Artificial Systems, 2013. (preprint, paper)
  9. H. Barron, J. Porrill, N. Lepora, E. Chinellato, G. Metta and T. Prescott. Child robot using cerebellum-based adaptation for fine haptic control over the space of uncertain surfaces. In: World Haptics Conference (WHC): 353-358, IEEE, 2013. (preprint, paper)
2012
  1. N. Lepora and K. Gurney. The basal ganglia optimize decision making over general perceptual hypotheses. Neural Computation 24 (11): 2924-2945, 2012. (preprint, paper, poster)
  2. N. Lepora, C. Fox, M. Evans, M. Diamond, K. Gurney and T. Prescott. Optimal decision-making in mammals: Insights from a robot study of rodent texture discrimination. Royal Society Interface 9 (72): 1517-1528, 2012. (preprint, paper)
    Media coverage: Science now, Futurity, Machines like us, NBC News, The Scientist.
  3. N. Lepora, P. Overton and K. Gurney. Efficient fitting of conductance-based model neurons from somatic current clamp. Journal of Computational Neuroscience 32(1): 1-24, 2012. (preprint, paper, supplementary, poster)
  4. N. Lepora, U. Martinez-Hernandez, H. Barron-Gonzalez, M. Evans, G. Metta and T. Prescott. Embodied hyperacuity from Bayesian perception: Shape and position discrimination with an iCub fingertip. In: Intelligent Robots and Systems (IROS): 4638-4643, IEEE/RSJ, 2012. (preprint, paper)
  5. N. Lepora, C. Sullivan, B. Mitchinson, M. Pearson, K. Gurney and T. Prescott. Brain-inspired Bayesian perception for biomimetic robot touch. In: Robotics and Automation (ICRA): 5111-5116, IEEE, 2012. (preprint, paper)
  6. J. Sullivan, B. Mitchinson, M. Pearson, M. Evans, N. Lepora, C. Fox, C. Melhuish and T. Prescott. Tactile discrimination using active whisker sensors. IEEE Sensors Journal 12(2): 350-362, 2012. (paper)
    Note: Robot featured on cover.
  7. M. Evans, C. Fox, N. Lepora, M. Pearson, J. Sullivan and T. Prescott. The effect of whisker movement on radial distance estimation: A case study in comparative robotics. Frontiers in Neurorobotics 6: 12, 2013. (paper)
  8. M. Evans, M. Pearson, N. Lepora, T. Prescott and C. Fox. Whiskered texture classification with uncertain pose geometry. In: Intelligent Robots and Systems (IROS): 7-13, IEEE/RSJ, 2012. (preprint, paper)
2011
  1. N. Lepora, C. Blomeley, D. Hoyland, E. Bracci, P. Overton and K. Gurney. A simple electrophysiological method for characterizing passive and active neuronal properties applied to striatal neurons. European Journal of Neuroscience 34(9): 1390-1405, 2011. (preprint, paper)
  2. N. Lepora, C. Fox, M. Evans, B. Mitchinson, A. Motiwala, J. Sullivan, M. Pearson, J. Welsby, T. Pipe, K. Gurney and T. Prescott. A general classifier of whisker data using stationary naive Bayes: Application to BIOTACT Robots. In: Towards Autonomous Robotic Systems (TAROS): LNCS 6856, 13-23, Springer, 2011. (preprint, paper)
  3. C. Fox, M. Evans, N. Lepora, M. Pearson, A. Hamm and T. Prescott. CrunchBot: A mobile whiskered robot platform. In: Towards Autonomous Robotic Systems (TAROS): LNCS 6856, 102-113, Springer, 2011. (paper)
  4. A. Motiwala, C. Fox, N. Lepora and T. Prescott. Sensing with artificial tactile sensors: An investigation of spatio-temporal inference In: Towards Autonomous Robotic Systems (TAROS): LNCS 6856, 253-264, Springer, 2011. (paper)
2010
  1. N. Lepora, J. Porrill, C. Yeo and P. Dean. Sensory prediction or motor control? Application of Marr-Albus type models of cerebellar function to classical conditioning. Frontiers in Computational Neuroscience 4: 140, 2010. (paper)
  2. N. Lepora, M. Pearson, B. Mitchinson, M. Evans, C. Fox, T. Pipe, K. Gurney and T. Prescott. Naive Bayes novelty detection for a moving robot with whiskers. In: Robotics and Biomimetics (ROBIO): 131-136, IEEE, 2010. (preprint, paper)
  3. N. Lepora, M. Evans, C. Fox, M. Diamond, K. Gurney and T. Prescott. Naive Bayes texture classification applied to whisker data from a moving robot. In: Neural Networks (IJCNN): 1-8, IEEE, 2010.(preprint, paper)
  4. S. Anderson, N. Lepora, J. Porrill and P. Dean. Nonlinear dynamic modelling of isometric force production in primate eye muscle. IEEE Transactions on Biomedical Engineering 57 (7): 1554-1567, 2010. (paper)
  5. M. Evans, C. Fox, M. Pearson, N. Lepora and T. Prescott. Whisker-object contact speed affects radial distance estimation. In: Robotics and Biomimetics (ROBIO): 720-725, IEEE, 2010. (preprint, paper)
2009
  1. N. Lepora, J. Porrill, L. Evinger, C. Yeo and P. Dean. Recruitment in retractor bulbi muscle during eyeblink conditioning: EMG analysis and common-drive model. Journal of Neurophysiology 102(4): 2498-2513, 2009. (preprint, paper)
  2. M. Humphries, N. Lepora, R. Wood and K. Gurney. Capturing dopaminergic modulation and bimodal membrane behaviour of striatal medium spiny neurons in accurate, reduced models. Frontiers in Computational Neuroscience 3: 26, 2009. (paper)
2007
  1. N. Lepora, E. Mavritsaki, J. Porrill, L. Evinger, C. Yeo and P. Dean. Evidence from retractor bulbi EMG for linearised control of conditioned nictitating membrane responses. Journal of Neurophysiology 98(4): 2074-2088, 2007. (preprint, paper)
  2. E. Mavritsaki, N. Lepora, J. Porrill, L. Evinger, C. Yeo and P. Dean. Response linearity determined by recruitment strategy in detailed model of nictitating membrane control. Biological Cybernetics 96(1): 397-357, 2007. (preprint, paper)
Neuroscience/robotics - conference abstracts
  1. K. Aquilina, D. Barton and N. Lepora. Gaussian Process Regression for a Biomimetic Tactile Sensor. In: Biomimetic and Biohybrid Systems (Living Machines): LNAI 9793, Springer, 2016.
  2. L. Cramphorn, B. Ward-Cherrier and N. Lepora. A Biomimetic Fingerprint improves Spatial Tactile Perception. In: Biomimetic and Biohybrid Systems (Living Machines): LNAI 9793, Springer, 2016.
  3. M.E. Giannaccini, S. Whyle and N. Lepora. Force Sensing with a Biomimetic Fingertip. In: Biomimetic and Biohybrid Systems (Living Machines): LNAI 9793, Springer, 2016.
  4. N. Pestell, B. Ward-Cherrier, L. Cramphorn and N. Lepora. Tactile Exploration by Contour Following using a Biomimetic Fingertip. In: Biomimetic and Biohybrid Systems (Living Machines): LNAI 9793, Springer, 2016.
  5. E. Roscow, C. Kent, U. Leonards and N. Lepora. Discrimination-Based Perception for Robot Touch. In: Biomimetic and Biohybrid Systems (Living Machines): LNAI 9793, Springer, 2016.
  6. B. Ward-Cherrier, L. Cramphorn and N. Lepora. Exploiting Symmetry to generalize Biomimetic Touch. In: Biomimetic and Biohybrid Systems (Living Machines): LNAI 9793, Springer, 2016.
  7. N. Lepora. Bayesian active perception for robot touch. See and Touch: 1st Workshop on multimodal sensor-based robot control for HRI and soft manipulation, IEEE, 2015. (abstract)
  8. N. Lepora, P. Verschure and T. Prescott. Towards a roadmap for Living Machines. In: Biomimetic and Biohybrid Systems (Living Machines): LNCS 8064, 396-398, Springer, 2013. (abstract)
  9. N. Lepora, U. Martinez-Hernandez and T. Prescott. Solid robot perception. IROS cognitive robotics symposium, IEEE, 2013. (preprint, abstract)
  10. N. Lepora, P. Verschure and T. Prescott. Towards a roadmap for Living Machines. In: Biomimetic and Biohybrid Systems (Living Machines): LNCS 8064, 396-398, Springer, 2013. (abstract)
  11. N. Lepora, U. Martinez-Hernandez, M. Evans, L. Natale, G. Metta and T. Prescott. Embodied hyperacuity for robot touch. ICRA workshop on tactile sensing, IEEE, 2013. (preprint)
  12. U. Martinez-Hernandez, T. Dodd, T. Prescott and N. Lepora. Angle and position perception for exploration with active touch. In: Biomimetic and Biohybrid Systems (Living Machines): LNCS 8064, 405-408, Springer, 2013. (abstract)
  13. J. Caballero, N. Lepora and K. Gurney. Decision-making out of neural events: from discrimination information to psychometric power laws. BMC Neuroscience 14, (Suppl 1), P153, 2013. (abstract)
  14. N. Lepora, P. Verschure and T. Prescott. The state of the art in biomimetics. In: Biomimetic and Biohybrid Systems (Living Machines): LNCS 7375, 367-368, Springer, 2012. (abstract)
  15. U. Martinez-Hernandez, H. Barron-Gonzalez, M. Evans, N. Lepora, T. Dodd and T. Prescott. Texture classification through tactile sensing. In: Biomimetic and Biohybrid Systems (Living Machines): LNCS 7375, 377-379, Springer, 2012. (abstract)
  16. H. Barron-Gonzalez, N. Lepora, U. Martinez-Hernandez, M. Evans and T. Prescott. Towards a framework for tactile perception in social robotics. In: Biomimetic and Biohybrid Systems (Living Machines): LNCS 7375, 335-336, Springer, 2012. (abstract)
  17. J. Caballero, N. Lepora and K. Gurney. Sequential tests and biologically grounded multi-alternative decision making. BMC Neuroscience 12, (Suppl 1), P137, 2011. (abstract)
  18. N. Lepora, P. Overton and K. Gurney. Efficient current-based optimisation methods for parameter estimation in multi-compartmental neurons. BMC Neuroscience 10, (Suppl 1), P347, 2009. (abstract)
  19. M. Humphries, N. Lepora, R. Wood and K. Gurney. Reduced models of striatal neurons: dopamine modulation and dynamics. BMC Neuroscience, 10 (Suppl 1), P321, 2009. (abstract)
  20. D. Hoyland, N. Lepora, R. Wood, P. Overton and K. Gurney. Integrated data collection and automated parameter estimation in the construction of conductance-based models of neostriatal neurons. Soc. Neurosci. Abstracts 34:694.4, 2008.
  21. N. Lepora, J. Porrill, C. Yeo and P. Dean. Contingency learning by an adaptive filter model of cerebellum in simulated eyeblink conditioning. Soc. Neurosci. Abstracts 33:636.11, 2007. (abstract, poster)
  22. P. Dean, J. Porrill, C. Yeo and N. Lepora. A computational model of adaptive blink modification by the cerebellum. Soc. Neurosci. Abstracts 33:190.7, 2007. (abstract, poster)
  23. N. Lepora, J. Porrill, P. Dean, C. Yeo and L. Evinger. Simple recruitment model describes control of conditioned nictitating membrane responses by retractor bulbi muscle. Soc. Neurosci. Abstracts 32:345.16, 2006. (abstract, poster)
  24. N. Lepora, E. Mavritsaki, J. Porrill, P. Dean, C. Yeo and L. Evinger. Evidence for linearity in control of nictitating membrane by retractor bulbi motor units. Soc. Neurosci. Abstracts 31:869.3, 2005. (abstract, poster)
Theoretical physics - journal publications
  1. N. Lepora. Asymptotically embedded defects. Phys. Lett. B541:362-368, 2002. (preprint, paper)
  2. N. Lepora. Some problems with calculating the quantum corrections to the 't Hooft-Polyakov monopole. Phys. Lett. B536:338-343, 2002. (preprint, paper)
  3. N. Lepora. Some simpler analogues of the dual standard model and their relations to Bais' generalization of the Montenon-Olive conjecture. Phys. Lett. B524:383-388, 2002. (preprint, paper)
  4. N. Lepora. Embedded monopoles. Phys. Lett. B533:131-137, 2002. (preprint, paper)
  5. N. Lepora. Gauge interactions in the dual standard model. JHEP 0002:037, 2000. (preprint, paper)
  6. N. Lepora. Gauge unification in the dual standard model. JHEP 0002:036, 2000. (preprint, paper)
  7. N. Lepora. Vacuum geometry. JHEP 9911:034, 1999. (preprint, paper)
  8. N. Lepora and T. Kibble. Electroweak vacuum geometry. JHEP 9904:027, 1999. (preprint, paper)
  9. N. Lepora and T. Kibble. Classifying vortex solutions to gauge theories. Phys. Rev. D59:125019, 1999. (preprint, paper)
  10. N. Lepora and A. Davis. Examples of embedded defects (in particle physics and condensed matter). Phys. Rev. D58:125028, 1998. (preprint, paper)
  11. N. Lepora and A. Davis. Embedded vortices. Phys. Rev. D58:125027, 1998. (preprint, paper)
  12. A. Davis and N. Lepora. Embedded defects and symmetry breaking in flipped-SU(5). Phys. Rev. D52:7265, 1995. (preprint, paper)