Papers

Robotics: 2021, 2020, 2019, 2018, 2017, 2016, 2010-15

2021

Optical Tactile Sim-to-Real Policy Transfer via Real-to-Sim Tactile Image Translation
A Church, J Lloyd, R Hadsell, N Lepora (submitted) CoRL
Also see: webpage

Goal-Driven Robotic Pushing using Tactile and Proprioceptive Feedback
J Lloyd, N Lepora (accepted) IEEE Transactions on Robotics

Slip Detection for Grasp Stabilization with a Multifingered Tactile Robot Hand
J James, N Lepora (2021) IEEE Transactions on Robotics

Pose-Based Tactile Servoing: Controlled Soft Touch with Deep Learning
N Lepora, J Lloyd (accepted) IEEE Robotics & Automation Magazine

A robust controller for stable 3D pinching using tactile sensing
E Psomopoulou, N Pestell, F Papadopoulos, J Lloyd, Z Doulgeri, N Lepora (submitted) IEEE Robotics & Automation Letters

Probabilistic Discriminative Models Address the Tactile Perceptual Aliasing Problem
J Lloyd, Y Lin, N Lepora (2021) Robotics: Science & Systems

2020

Optimal deep learning for robot touch: Training accurate pose models of 3d surfaces and edges
N Lepora, J Lloyd (2020) IEEE Robotics & Automation Magazine

Deep Reinforcement Learning for Tactile Robotics: Learning to Type on a Braille Keyboard
A Church, J Lloyd, R Hadsell, N Lepora (2020) IEEE Robotics & Automation Letters

A Biomimetic Tactile Fingerprint Induces Incipient Slip
J James, S Redmond, N Lepora (2020) IROS

A Miniaturised Neuromorphic Tactile Sensor integrated with an Anthropomorphic Robot Hand
B Ward-Cherrier, J Conradt, M Catalano, M Bianchi, N Lepora (2020) IROS


Sim-to-real transfer for optical tactile sensing, ICRA
Active touch sensing in mammals and robots, Chapter in: ‘In the senses: A reference’
Sensing Ultrasonic Mid-Air Haptics with a Biomimetic Tactile Fingertip, World Haptics

2018

Slip detection with a biomimetic tactile sensor
J James, N Pestell, N Lepora (2018) IEEE Robotics & Automation Letters

Principal components of touch
K Aquilina, D Barton, N Lepora (2018) ICRA

Dual-modal tactile perception and exploration
N Pestell, J Lloyd, J Rossiter, N Lepora (2018) IEEE Robotics & Automation Letters

TacWhiskers: Biomimetic optical tactile whiskered robots
N Lepora, M Pearson, L Cramphorn (2018) IROS

2017

Exploratory tactile servoing with active touch
N Lepora et al (2017) IEEE Robotics and Automation Letters

Model-free precise in-hand manipulation with a 3d-printed tactile gripper
B Ward-Cherrier, N Rojas, N Lepora (2017) IEEE Robotics and Automation Letters

Exploiting sensor symmetry for generalized tactile perception in biomimetic touch
B Ward-Cherrier, L Cramphorn, N Lepora (2017) IEEE Robotics and Automation Letters

Addition of a biomimetic fingerprint on an artificial fingertip enhances tactile spatial acuity
L Cramphorn, B Ward-Cherrier, N Lepora (2017) IEEE Robotics and Automation Letters

Active sensorimotor control for tactile exploration
U Martinez-Hernandez, … N Lepora (2017) Robotics and Autonomous Systems

2016

Biomimetic active touch with fingertips and whiskers
N Lepora (2016) IEEE Transactions on Haptics

Superresolution with an optical tactile sensor
N Lepora, B Ward-Cherrier (2015) IROS

Tactile manipulation with a TacThumb integrated on the open-hand M2 gripper
B Ward-Cherrier, L Cramphorn, N Lepora (2016) IEEE Robotics and Automation Letters

Tactile quality control with biomimetic active touch
N Lepora, B Ward-Cherrier (2016) IEEE Robotics and Automation Letters

Tactile manipulation with biomimetic active touch
L Cramphorn, B Ward-Cherrier, N Lepora (2016) ICRA

2010-15 robotics

Biomimetics

The state of the art in biomimetics
N Lepora, P Verschure, T Prescott (2013) Bioinspiration & biomimetics

A future of living machines? International trends and prospects in biomimetic and biohybrid systems
T Prescott, N Lepora, P Vershure (2014) Bioinspiration, Biomimetics, and Bioreplication

Living Machines 2012: The First International Conference on Biomimetic and Biohybrid Systems
N Lepora, A Mura, P Verschure, T Prescott (2013) Bioinspiration & biomimetics

Robot touch – iCub fingertip

Tactile superresolution and biomimetic hyperacuity
N Lepora et al (2015) IEEE Transactions on Robotics

Active Bayesian Perception for Simultaneous Object Localization and Identification
N Lepora, U Martinez-Hernandez, T Prescott (2013) Robotics: Science and Systems

Active touch for robust perception under position uncertainty
N Lepora, U Martinez-Hernandez, T Prescott (2013) ICRA

Embodied hyperacuity: Shape and position discrimination with an icub fingertip sensor
N Lepora, U Martinez-Hernandez, …, T Prescott (2012) IROS

Active Bayesian perception and reinforcement learning
N Lepora, U Martinez-Hernandez, G Pezzulo, T Prescott (2013) IROS

Active contour following to explore object shape with robot touch
U Martinez-Hernandez, …, N Lepora (2013) World Haptics Conference

Active Bayesian perception for angle and position discrimination with a biomimetic fingertip
U Martinez-Hernandez, T Dodd, T Prescott, N Lepora (2013) IROS

Robot touch – whiskers

Optimal decision-making in mammals: insights from a robot study of rodent texture discrimination
N Lepora, …, T Prescott (2012) Journal of The Royal Society Interface

Neuroscience

Embodied choice: how action influences perceptual decision making
N Lepora, G Pezzulo (2015) PLoS Computational Biology

Efficient fitting of conductance-based model neurons from somatic current clamp
N Lepora, P Overton, K Gurney (2012) Journal of computational neuroscience

Capturing dopaminergic modulation and bimodal membrane behaviour of striatal medium spiny neurons in accurate, reduced models
M Humphries, N Lepora, R Wood, K Gurney (2009) Frontiers in computational neuroscience

Nonlinear dynamic modeling of isometric force production in primate eye muscle
S Anderson, N Lepora, J Porrill, P Dean (2010) IEEE Transactions on Biomedical Engineering

Recruitment in retractor bulbi muscle during eyeblink conditioning: EMG analysis and common-drive model
N Lepora, J Porrill, C Yeo, C Evinger, P Dean (2009) Journal of neurophysiology

Response linearity determined by recruitment strategy in detailed model of nictitating membrane control
E Mavritsaki, N Lepora, J Porrill, C Yeo, P Dean (2007) Biological cybernetics