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Publications

2025

• Vasile, F., Qiu, R., Natale, L., and Wang, X., Gaussian-Augmented Physics Simulation and System Identification with Complex Colliders, in Advances in Neural Information Processing Systems 38 (NeurIPS 2025), San Diego, California, USA, 2025. [bibtex]
• Vasile, F., Maiettini, E., Pasquale, G., Boccardo, N., and Natale, L., Continuous Wrist Control on the Hannes Prosthesis: A Vision-Based Shared Autonomy Framework, in IEEE-RAS International Conference on Robotics and Automation, Atlanta, GA, USA, 2025. [project page] [doi] [preprint] [bibtex]
• Stracquadanio, G., Vasile, F., Maiettini, E., Boccardo, N., and Natale, L., Bring Your Own Grasp Generator: Leveraging Robot Grasp Generation for Prosthetic Grasping, in IEEE-RAS International Conference on Robotics and Automation, Atlanta, GA, USA, 2025. [project page] [doi] [preprint] [bibtex]
• Shahidzadeh, A., Caddeo, G., Alapati, K., Natale, L., Fermüller, C., and Aloimonos, Y., FeelAnyForce: Estimating Contact Force Feedback from Tactile Sensation Vision-Based Tactile Sensors, in IEEE-RAS International Conference on Robotics and Automation, Atlanta, GA, USA, 2025. [project page] [doi] [preprint] [bibtex]
• Roselli, C., Lombardi, M., Natale, L., and Wykowska, A., The duration of robot gaze affects people’s attitudes towards humanoid robots, in IEEE International Conference on Robot and Human Interactive Communication, Eindhoven, The Netherlands, 2025. [bibtex]
• Rosasco, A., Ceola, F., Pasquale, G., and Natale, L., KDPE: A Kernel Density Estimation Strategy for Diffusion Policy Trajectory Selection, in Conference on Robot Learning, Seoul, Korea, 2025. [project page] [preprint] [bibtex]
• Puang, E. Y., Ceola, F., Pasquale, G., and Natale, L., PCHands: PCA-based Hand Pose Synergy Representation on Manipulators with N-DoF, in IEEE-RAS Humanoids, Seoul, Korea, 2025. [project page] [preprint] [doi] [bibtex]
• Lombardi, M., Maiettini, E., Agnieszka, W., and Natale, L., Gaze estimation learning architecture as support to affective, social and cognitive studies in natural human-robot interaction, ACM Transactions on Human-Robot Interaction, 2025. [preprint] [doi] [bibtex]
• Lombardi, M., Calabrese, C., Ghiglino, D., Foglino, C., De Tommaso, D., Da Lisca, G., Natale, L., and Wykowska, A., Would you let a humanoid play storytelling with your child? A usability study on LLM-powered Narrative Humanoid-Robot Interaction, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Hangzhou, China, 2025. [preprint] [bibtex]
• Li, Z., Glover, A., Bartolozzi, C., and Natale, L., 6-Dof Object Tracking with Event-based Optical Flow and Frames, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Hangzhou, China, 2025. [preprint] [doi] [bibtex]
• Galliena, T., Apicella, T., Rosa, S., Morerio, P., Del Bue, A., and Natale, L., Embodied Image Captioning: Self-supervised Learning Agents for Spatially Coherent Image Descriptions, in IEEE/CVF International Conference on Computer Vision (ICCV), Honolulu, Hawaii, 2025. [project page] [preprint] [bibtex]
• Calabrese, C., Gower, V., Randazzo, M., Randazzo, M., Brand, F., Mattos, F. M. G., Spinelli, F., Fussi, M., Landini, E., Bernagozzi, S., and Natale, L., Socially Assistive Robot to Administer and Assess the Timed Up and Go Test: A Feasibility Study, Journal of Social Robotics, vol. 17, pp. 133–146, 2025. [doi] [bibtex]
• Caddeo, G. M., Maracani, A., Alfano, P. D., Piga, N. A., Rosasco, L., and Natale, L., Sim2Surf: a Sim2Real Surface Classifier for Vision-Based Tactile Sensors with a Bilevel Adaptation Pipeline, IEEE Sensors Journal, vol. 25, no. 5, pp. 1558-1748, 2025. [project page] [doi] [bibtex]
• Bernagozzi, S., Faraci, S., Ghiorzi, E., Pedemonte, K., Natale, L., and Tacchella, A., Code Generation and Monitoring for Deliberation Components in Autonomous Robots, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Hangzhou, China, 2025. [bibtex]
• Bernagozzi, S., Faraci, S., Ghiorzi, E., Pedemonte, K., Ferrando, A., Natale, L., and Tacchella, A., Model-based Verification and Monitoring for Safe and Responsive Reactive Robots, in IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, 2025. [doi] [bibtex]
• Alessi, C., Vasile, F., Ceola, F., Pasquale, G., Boccardo, N., and Natale, L., HannesImitation: Grasping with the Hannes Prosthetic Hand via Imitation Learning, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Hangzhou, China, 2025. [project page] [preprint] [bibtex]

2024

• Woolfrey, J., Ajoudani, A., Lu, W., and Natale, L., Optimal Configurations for Stiffness and Compliance in Human & Robot Arms, PLoS ONE, vol. 13, no. 5, 2024. [doi] [bibtex]
• Taioli, F., Rosa, S., Castellini, A., Natale, L., Del Bue, A., Farinelli, A., Cristani, M., and Wang, Y., Mind the Error! Detection and Localization of Instruction Errors in Vision-and-Language Navigation, in Workshop on Embodied AI, CVPR 2024, 2024. [preprint] [doi] [bibtex]
• Taioli, F., Rosa, S., Castellini, A., Natale, L., Del Bue, A., Farinelli, A., Cristani, M., and Wang, Y., Mind the Error! Detection and Localization of Instruction Errors in Vision-and-Language Navigation, in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024. [project page] [preprint] [doi] [bibtex]
• Taioli, F., Rosa, S., Castellini, A., Natale, L., Del Bue, A., Farinelli, A., Cristani, M., and Wang, Y., I2EDL: Interactive Instruction Error Detection and Localization, in The 33rd IEEE International Conference on Robot and Human Interactive Communication, 2024. [preprint] [doi] [bibtex]
• Street, C., Warsame, Y., Mansouri, M., Klauck, M., Henkel, C., Lampacrescia, M., Palmas, M., Lange, R., Ghiorzi, E., Tacchella, A., Azrou, R., Lallement, R., Morelli, M., Chen, G. I., Wallis, D., Bernagozzi, S., Rosa, S., Randazzo, M., Faraci, S., and Natale, L., Towards a Verifiable Toolchain for Robotics, in Proceedings of the AAAI Symposium Series, 2024, pp. 398-403. [doi] [bibtex]
• Scarpellini, G., Stefano, R., Moreiro, P., Natale, L., and Del Bue, A., Look around and learn: improving object detection by exploration, in European Conference on Computer Vision, 2024. [project page] [doi] [bibtex]
• Rosasco, A., Berti, S., Pasquale, G., Malafronte, D., Sato, S., Segawa, H., Inada, T., and Natale, L., ConCon-Chi: Concept-Context Chimera Benchmark for Personalized Vision-Language Tasks, in IEEE/CVF Conference on Computer Vision and Pattern Recognition 2024, Seattle, Washington, 2024. [project page] [doi] [bibtex]
• Hanifi, S., Maiettini, E., Lombardi, M., and Natale, L., A pipeline for estimating human attention toward objects with on-board cameras on the iCub humanoid robot, Frontiers in Robotics and AI, vol. 11, 2024. [doi] [bibtex]
• Ceola, F., Rosasco, L., and Natale, L., RESPRECT: Speeding-up Multi-fingered Grasping with Residual Reinforcement Learning, IEEE Robotics & Automation Letters, vol. 9, no. 4, 2024. [project page] [doi] [preprint] [bibtex]
• Ceola, F., Natale, L., Sunderhauf, N., and Rana, K., LHManip: A Dataset for Long-Horizon Language-Grounded Manipulation Tasks in Cluttered Tabletop Environments, in RSS Workshop on Mechanisms for Mapping Human Input to Robots From Robot Learning to Shared Control/Autonomy, 2024. [preprint] [bibtex]
• Calabrese, C., Berti, S., Pasquale, G., and Natale, L., The impact of Compositionality in Zero-shot Multi-label action recognition for Object-based tasks, in The 33rd IEEE International Conference on Robot and Human Interactive Communication, 2024. [preprint] [doi] [bibtex]
• Caddeo, G. M., Marcani, A., Alfano, P. D., Rosasco, L., and Natale, L., Sim2Real Bilevel Adaptation for Object Surface Classification using Vision-Based Tactile Sensors, in IEEE-RAS International Conference on Robotics and Automation, Yokohama, Japan, 2024. [preprint] [doi] [bibtex]
• Bottarel, F., Altobelli, A., Pattacini, U., and Natale, L., GRASPA-fying the Panda: Easily Deployable, Fully Reproducible Benchmarking of Grasp Planning Algorithms, IEEE Robotics and Automation Magazine, vol. 31, no. 4, pp. 21-31, 2024. [doi] [bibtex]

2023

• Rosa, S., Randazzo, M., Landini, E., Bernagozzi, S., Sacco, G., Piccinino, M., and Natale, L., Tour Guide Robot: a 5G-enabled Robot Museum Guide, Frontiers in Robotics and AI, vol. 10, 2023. [doi] [bibtex]
• Piga, N. A., and Natale, L., Adaptive Tactile Force Control in a Parallel Gripper with Low Positioning Resolution, IEEE Robotics & Automation Letters, vol. 8, no. 9, 2023. [doi] [bibtex]
• Maracani, A., Pastore, V. P., Natale, L., Rosasco, L., and Odone, F., In-domain versus out-of-domain transfer learning in plankton image classification, Scientific Reports, vol. 13, no. 1, pp. 10443, 2023. [doi] [bibtex]
• Maracani, A., Camoriano, R., Maiettini, E., Talon, D., Rosasco, L., and Natale, L., Key Design Choices for Double-Transfer in Source-Free Unsupervised Domain Adaptation, in Adapting to Change: Reliable Learning Across Domains, ECML-PKDD 2023 Workshop, Turin, Italy, 2023. [preprint] [bibtex]
• Lombardi, M., Roselli, C., Kompatsiari, K., Rospo, F., Natale, L., and Wykowska, A., The impact of facial expression and communicative gaze of a humanoid robot on individual Sense of Agency, Scientific Reports, vol. 13, no. 10113, 2023. [doi] [bibtex]
• Li, Z., Piga, N. A., Di Pietro, F., Iacono, M., Glover, A., Natale, L., and Bartolozzi, C., Hybrid Object Tracking with Events and Frames, in IEEE/RSJ International Conference on Intelligent Robots and Sysems, Detroit, MI, USA, 2023. [doi] [pdf] [bibtex]
• Ghiorzi, E., Colledanchise, M., Piquet, G., Tacchella, A., and Natale, L., Learning linear temporal properties for autonomous robotic systems, IEEE Robotics and Automation Letters, vol. 8, no. 5, 2023. [doi] [bibtex]
• Di Giglio, A., Berti, S., Simona, C., Benvenuti, C., Laurino, M., Maiettini, E., Boccardo, N., Natale, L., Sacco, G., Piccinino, M., Bottari, G., Karanasiou, G., Stavroulaki, V., and Bianzino, A. P., Large-scale trialing of the B5G technology for eHealth and Emergency domains, in IEEE International Conference on E-health Networking, Application & Services (Healthcom), Chongqing, China, 2023. [doi] [bibtex]
• Ceola, F., Maiettini, E., Rosasco, L., and Natale, L., A Grasp Pose is All You Need: Learning Multi-fingered Grasping with Deep Reinforcement Learning from Vision and Touch, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Detroit, MI, USA, 2023. [preprint] [doi] [bibtex]
• Caddeo, G., Piga, N. A., Bottarel, F., and Natale, L., Collision-aware In-hand 6D Object Pose Estimation using Multiple Vision-based Tactile Sensors, in IEEE International Conference on Robotics and Automation, London, UK, 2023. [preprint] [doi] [bibtex]
• Bianzino, A. P., Basso, A., Caratti, G., Comsa, C., Di Giglio, A., Garcia, C., Georgakopoulos, A., Giaccone, P., Giannopoulou, E., Gramaglia, M., Iovanna, P., Karanassiou, G., Laurino, M., Marquez-Barja, J. M., Maiettini, E., Martinez-Lopez, M. A., Munafò, M., Natale, L., Osman, H., Pantazi, N., Papagiannopoulos, N., Pessotto, L., Petrache, C., Provvedi, S., Scivoletto, G., Trogolo, A., and Vidal, A., Trials Supported By Smart Networks Beyond 5G: the TrialsNet Approach, in IEEE Future Networks World Forum, Baltimore, MD, 2023. [bibtex]

2022

• Vasile, F., Maiettini, E., Pasquale, G., Florio, A., Boccardo, N., and Natale, L., Grasp Pre-shape Selection by Synthetic Training: Eye-in-hand Shared Control on the Hannes Prosthesis, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Japan, 2022. [preprint] [doi] [bibtex]
• Vasco, V., Antunes, A., Tikhanoff, V., Pattacini, G., Natale, L., Gower, V., and Maggiali, M., HR1 Robot: An Assistant for Healthcare Applications, Frontiers in Robotics and AI, vol. 9, 2022. [doi] [bibtex]
• Rosasco, A., Berti, S., Bottarel, F., Colledanchise, M., and Natale, L., Towards Confidence-guided Shape Completion for Robotic Applications, in IEEE-RAS International Conference on Humanoid Robots, 2022. [preprint] [doi] [bibtex]
• Piga, N., Onyshchuk, Y., Pasquale, G., Pattacini, U., and Natale, L., ROFT: Real-time Optical Flow-aided 6D Object Pose and Velocity Tracking, IEEE Robotics and Automation Letters, vol. 7, no. 1, pp. 159-166, 2022. [project page] [doi] [preprint] [bibtex]
• Maiettini, E., Maracani, A., Camoriano, R., Pasquale, G., Tikhanoff, V., Rosasco, L., and Natale, L., From Handheld to Unconstrained Object Detection: a Weakly-supervised On-line Learning Approach, in IEEE International Conference on Robot & Human Interactive Communication, Naples, Italy, 2022. [preprint] [doi] [bibtex]
• Lombardi, M., Maiettini, E., Tikhanoff, V., and Natale, L., iCub Knows Where You Look: Exploiting Social Cues for Interactive Object Detection Learning, in IEEE-RAS International Conference on Humanoid Robots, 2022. [preprint] [doi] [bibtex]
• Lombardi, M., Maiettini, E., De Tommaso, D., Wykowska, A., and Natale, L., Towards an attentive robotic architecture:learning-based mutual gaze estimation in human-robot interaction, Frontiers in Robotics and AI - Human-Robot Interaction, 2022. [doi] [bibtex]
• Ferigo, D., Parmiggiani, A., Rampone, E., Tikhanoff, V., Traversaro, S., Pucci, D., and Natale, L., Robot Platforms and Simulators, Cognitive Robotics: MIT Press, 2022. [doi] [bibtex]
• Colledanchise, M., and Natale, L., Handling Concurrency in Behavior Trees, IEEE Transaction on Robotics, vol. 38, no. 4, 2022. [preprint] [doi] [bibtex]
• Ceola, F., Maiettini, E., Pasquale, G., Meanti, G., Rosasco, L., and Natale, L., Learn Fast, Segment Well: Fast Object Segmentation Learning on the iCub Robot, IEEE Transactions on robotics, vol. 38, no. 5, pp. 3154-3172, 2022. [preprint] [doi] [bibtex]
• Berti, S., Rosasco, A., Collledanchise, M., and Natale, L., One-Shot Open-Set Skeleton-Based Action Recognition, in IEEE-RAS International Conference on Humanoid Robots, 2022. [preprint] [doi] [bibtex]

2021

• Safronov, E., Piga, N. A., Colledanchise, M., and Natale, L., Active Perception for Ambiguous Objects Classification, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Prague, Czech Republic, 2021. [preprint] [doi] [bibtex]
• Piga, N., Pattacini, U., and Natale, L., A Differentiable Extended Kalman Filter for Object Tracking Under Sliding Regime, Frontiers in Robotics and AI, vol. 8, no. 251, 2021. [doi] [bibtex]
• Piga, N., Bottarel, F., Fantacci, C., Vezzani, G., Pattacini, U., and Natale, L., MaskUKF: an Instance Segmentation Aided Unscented Kalman Filter for 6D Object Pose and Velocity Tracking, Frontiers in Robotics and AI, vol. 8, pp. 38, 2021. [doi] [bibtex]
• Nobile, L., Randazzo, M., Colledanchise, M., Monorchio, L., Villa, W., Puja, F., and Natale, L., Active Exploration for Obstacle Detection on a Mobile Humanoid Robot, Actuators, vol. 10, no. 9, pp. 205, 2021. [project page] [doi] [bibtex]
• Murali, P., Sorrentino, I., Rendiniello, A., Fantacci, C., Villagrossi, E., Polo, A., Ardesi, A., Maggiali, M., Natale, L., Pucci, D., and Traversaro, S., In Situ Translational Hand-Eye Calibration of Laser Profile Sensors using Arbitrary Objects, in IEEE-RAS International Conference on Robotics and Automation, 2021. [pdf] [preprint] [doi] [bibtex]
• Maiettini, E., Tikhanoff, V., and Natale, L., Weakly-Supervised Object Detection Learning through Human-Robot Interaction, in International Conference on Humanoid Robotics, Munich, Germany, 2021. [preprint] [doi] [bibtex]
• Grigoletto, R., Maiettini, E., and Natale, L., Score to Learn: a Comparative Analysis of Scoring Functions for Active Learning in Robotics, in 13th International Conference on Computer Vision Systems, Wien, Austria, 2021. [doi] [bibtex]
• Colledanchise, M., and Natale, L., On the Implementation of Behavior Trees in Robotics, IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 5929-5936, 2021. [preprint] [doi] [bibtex]
• Colledanchise, M., Cicala, G., Domenichelli, E., Natale, L., and Tacchella, A., Formalizing the Execution Context of Behavior Trees for Runtime Verification of Deliberative Policies, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Prague, Czech Republic, 2021. [preprint] [doi] [bibtex]
• Colledanchise, M., Cicala, G., Domenichelli, D., Natale, L., and Tacchella, A., A Toolchain to Design, Execute, and Monitor Robots Behaviors, in Workshop on Robust and Reliable Autonomy in the Wild, IJCAI'21, 2021. [preprint] [bibtex]
• Ceola, F., Maiettini, E., Pasquale, G., Rosasco, L., and Natale, L., Fast Object Segmentation Learning with Kernel-based Methods for Robotics, in IEEE-RAS International Conference on Robotics and Automation, 2021. [preprint] [doi] [bibtex]
• Carfi, A., Patten, T., Kuang, Y., Hammound, A., Alameh, M., Maiettini, E., Weinberg, A., Faria, D., Mastrogiovanni, F., Alenya, G., Natale, L., Perdereau, V., Vincze, M., and Billard, A., Hand-Object Interaction: From Human Demonstrations to Robot Manipulation, Frontiers in Robotics and AI, vol. 8, 2021. [doi] [bibtex]

2020

• Vignaroli, L., Gramaglia, M., Fuentes, M., Casella, A., Odarchenko, R., Natale, L., Altman, B., and D'Andria, F., The Touristic Sector in the 5G Technology Era: The 5G-TOURS Project Approach, in 2020 IEEE Globecom Workshops, 2020. [doi] [bibtex]
• Safronov, E., Colledanchise, M., and Natale, L., Task Planning with Belief Behavior Trees, in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020. [preprint] [doi] [bibtex]
• Safronov, E., Colledanchise, M., and Natale, L., Compact Belief State Representation for Task Planning, in IEEE International Conference on Automation Science and Engineering, 2020. [preprint] [doi] [bibtex]
• Rendiniello, A., Remus, A., Sorrentino, I., Murali, P., Pucci, D., Maggiali, M., Natale, L., Villagrossi, E., Ardesi, A., and Traversaro, S., A Flexible Software Architecture for Robotic Industrial Applications, in IEEE IES International Conference on Emerging Technologies and Factory Automation, 2020. [doi] [bibtex]
• Parmiggiani, A., Dussoni, S., Natale, L., and Metta, G., Tactile Sensors, Encyclopedia of Robotics: Springer Berlin Heidelberg, 2020. [doi] [bibtex]
• Natale, L., Distributed Robotic Computing, Encyclopedia of Robotics: Springer Berlin Heidelberg, pp. 1-11, 2020. [doi] [bibtex]
• Maiettini, E., Pasquale, G., Rosasco, L., and Natale, L., On-line Object Detection: a Robotics Challenge, Autonomous Robots, vol. 4, no. 5, pp. 739-757, 2020. [doi] [bibtex]
• Colledanchise, M., Malafronte, D., and Natale, L., Act, Perceive, and Plan in Belief Space for Robot Localization, in IEEE-RAS International Conference on Robotics and Automation, Paris, France, 2020. [preprint] [doi] [bibtex]
• Bottarel, F., Vezzani, G., Pattacini, U., and Natale, L., GRASPA 1.0: GRASPA is a Robot Arm graSping Performance benchmArk, IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 836-843, 2020. [project page] [doi] [preprint] [bibtex]

2019

• Pasquale, G., Ciliberto, C., Odone, F., Rosasco, L., and Natale, L., Are we done with object recognition? The iCub robot’s perspective, Robotics and Autonomous Systems, vol. 112, pp. 260-281, 2019. [project page] [pdf] [doi] [preprint] [bibtex]
• Molinari, D., Pasquale, G., Natale, L., and Caputo, B., Automatic Creation of Large Scale Object Databases from Web Resources: A Case Study in Robot Vision, in Image Analysis and Processing, 2019, pp. 488-498. [doi] [pdf] [bibtex]
• Maiettini, E., Pasquale, G., Tikhanoff, V., Rosasco, L., and Natale, L., A weakly supervised strategy for learning object detection on a humanoid robot, in IEEE-RAS International Conference on Humanoid Robotics, Toronto, Canada, 2019, pp. 194-201. [doi] [pdf] [bibtex]
• Kim, W., Lorenzini, M., Balatti, P., Nguyen, D. H. P., Pattacini, U., Tikhanoff, V., Peternel, L., Fantacci, C., Natale, L., Metta, G., and Ajoudani, A., Adaptable workstations for human–robot collaboration: A reconfigurable framework for improving worker ergonomics and productivity, IEEE Robotics & Automation Magazine, vol. 26, no. 3, pp. 14-26, 2019. [doi] [bibtex]
• Holgado, A. C., Piga, N., Pradhono Tomo, T., Vezzani, G., Schmitz, A., Natale, L., and Sugano, S., Magnetic 3-axis Soft and Sensitive Fingertip Sensors Integration for the iCub Humanoid Robot, in IEEE-RAS International Conference on Humanoid Robotics, Toronto, Canada, 2019, pp. 1-8. [doi] [pdf] [bibtex]
• Giunchiglia, E., Colledanchise, M., Natale, L., and Tacchella, A., Conditional Behavior Trees: Definition, Executability, and Applications, in IEEE International Conference on Systems, Man, and Cybernetics, Bari, Italy, 2019, pp. 1899-1906. [doi] [pdf] [bibtex]
• Domenichelli, D., Traversaro, S., Muratore, L., Rocchi, A., Nori, F., and Natale, L., A Build System for Software Development in Robotic Academic Collaborative Environments, International Journal of Semantic Computing, vol. 13, no. 2, 2019. [doi] [bibtex]
• Colledanchise, M., and Natale, L., Analysis and Exploitation of Synchronized Parallel Executions in Behavior Trees, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Macau, China, 2019, pp. 6399-6406. [preprint] [doi] [pdf] [bibtex]

2018

• Vezzani, G., Pattacini, U., Pasquale, G., and Natale, L., Improving Superquadric Modeling and Grasping with Prior on Object Shapes, in IEEE-RAS International Conference on Robotics and Automation, Brisbane, Australia, 2018, pp. 6875-6882. [doi] [pdf] [bibtex]
• Tsagarakis, N., Negrello, F., Garabini, M., Choi, W., Baccelliere, L., Loc, V., Noorden, J., Catalano, M., Ferrati, M., Muratore, L., Kryczka, P., Hoffman, E., Settimi, A., Rocchi, A., Margan, A., Cordasco, S., Kanoulas, D., Cardellino, A., Natale, L., Dallali, H., Malzahn, J., Kashiri, N., Varricchio, V., Pallottino, L., Pavan, C., Lee, J., Ajoudani, A., Caldwell, D., and Bicchi, A., WALK-MAN humanoid platform, Springer Tracts in Advanced Robotics: Springer International Publishing, pp. 495-548, 2018. [doi] [bibtex]
• Torres-Jara, E., and Natale, L., Sensitive Manipulation: manipulation through tactile feedback, International Journal of Humanoid Robotics, vol. 15, no. 1, 2018. [doi] [pdf] [bibtex]
• Tito, P. T., Regoli, M., Schmitz, A., Natale, L., Kristanto, H., Somlor, S., Jamone, L., Metta, G., and Sugano, S., A New Silicone Structure for uSkin-a Soft, Distributed, Digital 3-axis Skin Sensor-and its Integration on the Humanoid Robot iCub, IEEE Robotics and Automation Letters, vol. 3, no. 3, pp. 2584 - 2591, 2018. [doi] [bibtex]
• Randazzo, M., Ruzzenenti, A., and Natale, L., YARP-ROS Inter-Operation in a 2D Navigation Task, Frontiers in Robotics and AI (code article), vol. 5, no. 5, 2018. [doi] [bibtex]
• Panuccio, G., Semprini, M., Natale, L., Buccelli, S., Colombi, I., and Chiappalone, M., Progress in Neuroengineering for brain repair: new challenges and open issues, Brain and Neuroscience Advances, 2018. [doi] [bibtex]
• Nguyen, P., Bottarel, F., Pattacini, U., Hoffmann, M., Natale, L., and Metta, G., Merging Physical and Social Interaction for Effective Human-Robot Collaboration, in IEEE-RAS International Conference on Humanoid Robots, Beijing, China, 2018, pp. 1-9. [doi] [pdf] [bibtex]
• Mar, T., Tikhanoff, V., and Natale, L., A Framework for Fast, Autonomous, and Reliable Tool Incorporation on iCub, Frontiers in Robotics and AI, vol. 5, no. 98, 2018. [doi] [bibtex]
• Maiettini, E., Pasquale, G., Rosasco, L., and Natale, L., Speeding-up Object Detection Training for Robotics with FALKON, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, 2018, pp. 5770-5776. [preprint] [doi] [pdf] [bibtex]
• Fantacci, C., Vezzani, G., Pattacini, U., Tikhanoff, V., and Natale, L., Markerless visual servoing on unknown objects for humanoid robot platforms, in IEEE-RAS International Conference on Robotics and Automation, Brisbane, Australia, 2018, pp. 3099-3106. [preprint] [doi] [pdf] [bibtex]
• Domenichelli, D., Traversaro, S., Muratore, L., Rocchi, A., Nori, F., and Natale, L., A Build System for Software Development in Robotic Academic Collaborative Environments, in IEEE International Conference on Robotic Computing, Laguna Hills, CA, 2018, pp. 33-40. [doi] [pdf] [bibtex]
• Colledanchise, M., and Natale, L., Improving the Parallel Execution of Behavior Trees, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, 2018, pp. 7103-7110. [preprint] [doi] [pdf] [bibtex]
• Cataldi, P., Dussoni, S., Ceseracciu, L., Maggiali, M., Natale, L., Metta, G., Athanassiou, A., and Bayer, I. S., Carbon Nanofiber versus Graphene-Based Stretchable Capacitive Touch Sensors for Artificial Electronic Skin, Advanced Science, vol. 5, no. 2, 2018. [doi] [bibtex]
• Cardellino, A., Ruzzenenti, A., and Natale, L., Design and Implementation of a YARP Device Driver Interface: The Depth-Sensor Case, Frontiers in Robotics and AI, vol. 5, no. 40, 2018. [doi] [bibtex]

2017

• Vezzani, G., Regoli, M., Pattacini, U., and Natale, L., A Novel Pipeline for Bi-manual Handover Task, Advanced Robotics, vol. 31, no. 23-24, pp. 1267-1280, 2017. [doi] [pdf] [bibtex]
• Vezzani, G., Pattacini, U., and Natale, L., A Grasping Approach Based on Superquadric Models, in IEEE International Conference on Robotics and Automation, Singapore, 2017, pp. 1579-1586. [doi] [pdf] [bibtex]
• Vezzani, G., Pattacini, U., Battistelli, G., Chisci, L., and Natale, L., Memory Unscented Particle Filter for 6-DOF Tactile Localization, IEEE Transactions on Robotics, vol. 33, no. 5, pp. 1139-1155, 2017. [preprint] [doi] [bibtex]
• Vezzani, G., and Natale, L., Real-time Pipeline for Object Modeling and Grasping Pose Selection via Superquadric Functions, Frontiers in Robotics and AI (code article), vol. 4, no. 59, 2017. [doi] [bibtex]
• Vasco, V., Glover, A., Mueggler, E., Scaramuzza, D., Natale, L., and Bartolozzi, C., Independent Motion Detection with Event-driven Cameras, in IEEE International Conference on Advanced Robotics, Hong Kong, 2017, pp. 530-536. [preprint] [doi] [bibtex]
• van Maris, A., Lehmann, H., Natale, L., and Grzyb, B., The Influence of a Robot’s Embodiment on Trust: A Longitudinal Study, in Human Robot Interaction, Wien, Austria, 2017. [doi] [bibtex]
• Tsagarakis, G. N., Caldwell, D. G., Negrello, F., Choi, W., Baccelliere, L., Loc, V., Noorden, J., Muratore, L., Margan, A., Cardellino, A., Natale, L., Mingo, H., Dallali, H., Kashiri, N., Malzahn, J., Lee, J., Kryczka, P., Kanaoulas, D., Garabini, M., Catalano, M., Ferrati, M., Varricchio, V., Pallottino, L., Pavan, C., Bicchi, A., Settimi, A., Rocchi, A., and Ajoudani, A., WALK-MAN: A High Performance Humanoid Platform for Realistic Environments, Journal of Field Robotics, vol. 34, no. 7, pp. 1225–1259, 2017. [doi] [bibtex]
• Regoli, M., Jamali, N., Metta, G., and Natale, L., Controlled Tactile Exploration and Haptic Object Recognition, in IEEE International Conference on Advanced Robotics, Hong Kong, 2017, pp. 47-54. [preprint] [doi] [bibtex]
• Parmiggiani, A., Fiorio, L., Scalzo, A., Vazhapilli, A. S., Randazzo, M., Maggiali, M., Pattacini, U., Lehmann, H., Tikhanoff, V., Domenichelli, D., Cardellino, A., Congiu, P., Pagnin, A., Cingolani, R., Natale, L., and Metta, G., The design and validation of the R1 personal humanoid, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada, 2017, pp. 674-680. [doi] [pdf] [bibtex]
• Natale, L., and Cannata, G., Tactile Sensing, Humanoid Robotics: A Reference: Springer Netherlands, pp. 1-24, 2017. [preprint] [doi] [bibtex]
• Natale, L., Bartolozzi, C., Pucci, D., Wykowska, A., and Metta, G., iCub: the not yet finished story of building a robot child, Science Robotics (short survey), vol. 2, no. 13, 2017. [doi] [bibtex]
• Natale, L., Bartolozzi, C., Nori, F., Sandini, G., and Metta, G., iCub, Humanoid Robotics: A Reference: Springer Netherlands, pp. 1-33, 2017. [preprint] [doi] [bibtex]
• Mar, T., Tikhanoff, V., and Natale, L., What can I do with this tool? Self-supervised learning of tool affordances from their 3D geometry, IEEE Transactions on Cognitive and Developmental Systems, vol. 10, no. 3, pp. 595-610, 2017. [doi] [pdf] [bibtex]
• Mar, T., Tikhanoff, V., Metta, G., and Natale, L., Self-supervised learning of tool affordances from 3D tool representation through parallel SOM mapping, in IEEE International Conference on Robotics and Automation, Singapore, 2017, pp. 894-901. [doi] [pdf] [bibtex]
• Maiettini, E., Pasquale, G., Rosasco, L., and Natale, L., Interactive Data Collection for Deep Learning Object Detectors on Humanoid Robots, in IEEE-RAS International Conference on Humanoid Robots, Birmingham, UK, 2017. [doi] [pdf] [bibtex]
• Khalili, A., Narizzano, M., Natale, L., and Tacchella, A., Learning middleware models for verification of distributed control programs, Robotics and Autonomous Systems, no. 92, pp. 139–151, 2017. [doi] [pdf] [bibtex]
• Fiorio, L., Scalzo, A., Natale, L., Metta, G., and Parmiggiani, A., A parallel kinematic mechanism for the torso of a humanoid robot: design, construction and validation, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada, 2017, pp. 681-688. [doi] [pdf] [bibtex]
• Fantacci, C., Pattacini, U., Tikhanoff, V., and Natale, L., Visual end-effector tracking using a 3D model-aided particle filter for humanoid robot platforms, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada, 2017, pp. 1411-1418. [preprint] [doi] [bibtex]
• Camoriano, R., Pasquale, G., Ciliberto, C., Natale, L., Rosasco, L., and Metta, G., Incremental Robot Learning of New Objects with Fixed Update Time, in IEEE International Conference on Robotics and Automation, Singapore, 2017, pp. 3207-3214. [preprint] [doi] [pdf] [bibtex]
• Bartolozzi, C., Ros, P., Diotalevi, F., Jamali, N., Natale, L., Crepaldi, M., and Demarchi, D., Event-driven encoding of off-the-shelf tactile sensors for compression and latency optimization for robotic skin, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada, 2017, pp. 166-173. [doi] [bibtex]

2016

• Vezzani, G., Jamali, N., Pattacini, U., Battistelli, G., Chisci, L., and Natale, L., A Novel Bayesian Filtering Approach to Tactile Object Recognition, in IEEE-RAS International Conference on Humanoid Robots, Cancun, Mexico, 2016, pp. 256-263. [doi] [bibtex]
• Roncone, A., Pattacini, U., Metta, G., and Natale, L., Cartesian 6-DoF gaze controller for humanoid robots, in Robotics: Science and Systems, Ann Arbor, Michigan, USA, 2016. [doi] [bibtex]
• Regoli, M., Pattacini, U., Metta, G., and Natale, L., Hierarchical Grasp Controller Using Tactile Feedback, in IEEE-RAS International Conference on Humanoid Robots, Cancun, Mexico, 2016, pp. 387-394. [doi] [pdf] [bibtex]
• Pasquale, G., Mar, T., Ciliberto, C., Rosasco, L. A., and Natale, L., Enabling depth-driven visual attention on the iCub humanoid robot: instructions for use and new perspectives, Frontiers in Robotics and AI, vol. 3, no. 35, 2016. [preprint] [doi] [bibtex]
• Pasquale, G., Ciliberto, C., Rosasco, L., and Natale, L., Object Identification from Few Examples by Improving the Invariance of a Deep Convolutional Neural Network, in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016, pp. 4904-4911. [doi] [pdf] [bibtex]
• Nava, G., Pucci, D., Traversaro, S., Romano, F., Muratore, L., Natale, L., Tsagarakis, N. G., and Nori, F., Porting Highly Dynamic Balancing from iCub to Walkman, in Humanoidsws 2016 Workshop: The use of dynamics in the field of humanoid robotics: identification, planning, perception and control, Cancun, Mexico, 2016. [bibtex]
• Natale, L., Paikan, A., Randazzo, M., and Domenichelli, D. E., The iCub Software Architecture: Evolution and Lessons Learned, Frontiers in Robotics and AI, vol. 3, no. 24, 2016. [doi] [bibtex]
• Metta, G., Natale, L., Nori, F., and Sandini, G., Force control and reaching movements on the iCub humanoid robot, 15th International Symposium on Robotics Research: Springer Verlag, pp. 161-182, 2016. [doi] [bibtex]
• Lier, F., Hanheide, M., Natale, L., Schulz, S., Weisz, J., Wachsmuth, S., and Wrede, S., Towards Automated System and Experiment Reproduction in Robotics, in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016, pp. 3298-3305. [doi] [bibtex]
• Jamali, N., Ciliberto, C., Rosasco, L., and Natale, L., Active Perception: Building Objects' Models Using Tactile Exploration, in IEEE-RAS International Conference on Humanoid Robots, Cancun, Mexico, 2016, pp. 179-185. [doi] [pdf] [bibtex]
• Higy, B., Ciliberto, C., Rosasco, L., and Natale, L., Combining Sensory Modalities and Exploratory Procedures to Improve Haptic Object Recognition in Robotics, in IEEE-RAS International Conference on Humanoid Robots, Cancun, Mexico, 2016, pp. 117-124. [doi] [pdf] [bibtex]
• Habra, T., Dallali, H., Cardellino, A., Natale, L., Tsagarakis, N., Fisette, P., and Ronsse, R., Robotran-YARP Interface: A Framework for Real-Time Controller Developments Based on Multibody Dynamics Simulations, Computational Methods in Applied Sciences: Springer International Publishing, pp. 147-164, 2016. [doi] [bibtex]
• Ferrati, M., Settimi, A., Muratore, L., Tsagarakis, N., Natale, L., and Pallottino, L., The Walk-Man Robot Software Architecture, Frontiers in Robotics and AI, vol. 3, no. 25, 2016. [doi] [bibtex]
• Bartolozzi, C., Natale, L., Nori, F., and Metta, G., Robots with a sense of touch, Nature Materials, vol. 15, pp. 921-925, 2016. [doi] [bibtex]
• Abuhashim, T., and Natale, L., Robustness in View-Graph SLAM, in 19th International Conference on Information Fusion, Heidelberg, Germany, 2016, pp. 942-949. [pdf] [bibtex]

2015

• Pasquale, G., Ciliberto, C., Odone, F., Rosasco, L., and Natale, L., Teaching iCub to recognize objects using deep Convolutional Neural Networks, in 4th Workshop on Machine Learning for Interactive Systems, 2015. [pdf] [bibtex]
• Paikan, A., Traversaro, S., Nori, F., and Natale, L., A Generic Testing Framework for Test Driven Development of Robotic Systems, in Modelling and Simulation for Autonomous Systems, Prague, Czech Republic, 2015, pp. 216-225. [doi] [bibtex]
• Paikan, A., Schiebener, D., Wacther, M., Asfour, T., Metta, G., and Natale, L., Transferring Object Grasping Knowledge and Skill Across Different Robotic Platforms, in IEEE International Conference on Advanced Robotics, Istanbul, Turkey, 2015, pp. 498-503. [doi] [pdf] [bibtex]
• Paikan, A., Pattacini, U., Domenichelli, D., Randazzo, M., Metta, G., and Natale, L., A Best-Effort Approach for Run-Time Channel Prioritization in Real-Time Robotic Application, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, 2015, pp. 1799-1805. [doi] [pdf] [bibtex]
• Paikan, A., Domenichelli, D., and Natale, L., Communication channel prioritization in a publish-subscribe architecture, in Software Engineering and Architectures for Realtime Interactive Systems, Arles, France, 2015. [preprint] [doi] [bibtex]
• Mar, T., Tikhanoff, V., Metta, G., and Natale, L., Multi-model approach based on 3D functional features for tool affordance learning in robotics, in IEEE-RAS International Conference on Humanoid Robotics, Seoul, Korea, 2015, pp. 482-489. [doi] [pdf] [bibtex]
• Mar, T., Tikhanoff, V., Metta, G., and Natale, L., Self-supervised learning of grasp dependent tool affordances on the iCub Humanoid robot, in IEEE International Conference on Robotics and Automation, Seattle, Washington, 2015, pp. 3200-3206. [doi] [pdf] [bibtex]
• Lepora, N. F., Martinez-Hernandez, U., Evans, M., Natale, L., Metta, G., and Prescott, T. J., Tactile superresolution and biomimetic hyperacuity, IEEE Transactions on Robotics, vol. 31, no. 3, pp. 605-618, 2015. [doi] [bibtex]
• Kumar, S., Odone, F., Noceti, N., and Natale, L., Object segmentation using Independent Motion Detection, in IEEE-RAS International Conference on Humanoid Robotics, Seoul, Korea, 2015, pp. 94-100. [doi] [pdf] [bibtex]
• Jamone, L., Natale, L., Metta, G., and Sandini, G., Highly sensitive soft tactile sensors for an anthropomorphic robotic hand, IEEE Sensors Journal, vol. 15, no. 8, pp. 4226-4233, 2015. [doi] [pdf] [bibtex]
• Jamali, N., Metta, G., and Natale, L., iCub Tactile Sensing System: Current State and Future Directions, in ICRA Workshop "Get in touch!" Tactile & force sensing for autonomous, compliant, intelligent robots, Washington, Seattle, 2015. [bibtex]
• Jamali, N., Maggiali, M., Giovannini, F., Metta, G., and Natale, L., A New Design of a Fingertip for the iCub Hand, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, 2015, pp. 2705-2710. [doi] [pdf] [bibtex]
• Habra, T., Dallali, H., Cardellino, A., Natale, L., Tsagarakis, N., Fisette, P., and Ronsse, R., Robotran-YARP interface: a framework for real-time controller development based on multibody dynamics simulation, in ECCOMAS Thematic Conference on Multibody Dynamics, Barcelona, Spain, 2015. [doi] [bibtex]
• Del Prete, A., Nori, F., Metta, G., and Natale, L., Prioritized Motion-Force Control of Constrained Fully-Actuated Robots: "Task Space Inverse Dynamics", Robotics and Autonomous Systems, vol. 63, Part 1, pp. 150-157, 2015. [preprint] [doi] [bibtex]
• Ahmadzadeh, S. R., Paikan, A., Mastrogiovanni, F., Natale, L., Kormushev, P., and Caldwell, D. G., Learning Symbolic Representations of Actions from Human Demonstrations, in IEEE International Conference on Robotics and Automation, Seattle, Washington, 2015, pp. 3801-3808. [doi] [bibtex]

2014

• Saegusa, R., Metta, G., Sandini, G., and Natale, L., Developmental Perception of the Self and Action, IEEE Transactions on Neural Networks and Learning Systems, vol. 25, no. 1, pp. 183-202, 2014. [doi] [pdf] [bibtex]
• Roncone, A., Pattacini, U., Metta, G., and Natale, L., Gaze Stabilization for Humanoid Robots: a Comprehensive Framework, in IEEE-RAS International Conference on Humanoid Robots, Madrid, Spain, 2014, pp. 259-264. [preprint] [doi] [pdf] [bibtex]
• Parmiggiani, A., Randazzo, M., Natale, L., and Metta, G., An alternative approach to robot safety, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, Illinois, 2014, pp. 484-489. [doi] [bibtex]
• Paikan, A., Tikhanoff, V., Metta, G., and Natale, L., Enhancing software module reusability using port plug-ins: an experiment with the iCub robot, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, Illinois, 2014, pp. 1555-1562. [preprint] [doi] [bibtex]
• Paikan, A., Metta, G., and Natale, L., A representation of robotic behaviors using component port arbitration, in 5th International Workshop on Domain-specific Languages and Models for Robotic Systems, Bergamo, Italy, 2014. [preprint] [bibtex]
• Paikan, A., Fitzpatrick, P., Metta, G., and Natale, L., Data Flow Port's Monitoring and Arbitration, Journal of Software Engineering for Robotics, vol. 5, no. 1, pp. 80-88, 2014. [pdf] [bibtex]
• Natale, L., Nori, F., Parmiggiani, A., and Metta, G., Sensorimotor Coordination in a Humanoid Robot: Building Intelligence on the iCub, Bioinspired Approaches for Human-Centric Technologies: Springer, pp. 155-197, 2014. [doi] [bibtex]
• Mingo, H. E., Traversaro, S., Alessio, R., Mirko, F., Settimi, A., Romano, F., Natale, L., Bicchi, A., Nori, F., and Tsagarakis, N., YARP based plugins for Gazebo Simulator, in 2014 Modelling and Simulation for Autonomous Systems, Rome, Italy, 2014, pp. 333-346. [doi] [bibtex]
• Khalili, A., Natale, L., and Tacchella, A., Reverse Engineering of Middleware for Verification of Robot Control Architectures, Lecture Notes in Computer Science: Springer International Publishing, pp. 315-326, 2014. [preprint] [doi] [bibtex]
• Jamone, L., Fumagalli, M., Natale, L., Nori, F., Metta, G., and Sandini, G., Control of physical interaction through tactile and force sensing during visually guided reaching, in IEEE Multi-conference on Systems and Control, Antibes, France, 2014, pp. 1360-1365. [doi] [bibtex]
• Jamone, L., Brandao, M., Natale, L., Hashimoto, K., Sandini, G., and Takanishi, A., Autonomous online generation of a motor representation of the workspace for intelligent whole-body reaching, Robotics and Autonomous Systems, vol. 62, no. 4, pp. 556-567, 2014. [doi] [bibtex]
• Horii, T., Nagai, Y., Natale, L., Giovannini, F., Metta, G., and Asada, M., Compensation of Tactile Hysteresis using Gaussian Process with Sensory Markov Property, in IEEE-RAS International Conference on Humanoid Robots, Madrid, Spain, 2014, pp. 993-998. [doi] [pdf] [bibtex]
• Horii, T., Giovannini, F., Nagai, Y., Natale, L., Metta, G., and Asada, M., Contact Force Estimation from Flexible Tactile Sensor Values Considering Hysteresis by Gaussian Process, in 4th International Conference on Development and Learning and on Epigenetic Robotics, Genova, Italy, 2014, pp. 137-138. [doi] [bibtex]
• Fitzpatrick, P., Ceseracciu, E., Domenichelli, D., Paikan, A., Metta, G., and Natale, L., A middle way for robotics middleware, Journal of Software Engineering for Robotics, vol. 5, no. 2, pp. 42-49, 2014. [pdf] [bibtex]
• Del Prete, A., Romano, F., Natale, L., Metta, G., Sandini, G., and Nori, F., Prioritized Optimal Control, in IEEE International Conference on Robotics and Automation, Hong Kong, China, 2014, pp. 2540-2545. [preprint] [doi] [bibtex]
• Del Prete, A., Mansard, N., Nori, F., Metta, G., and Natale, L., Partial Force Control of Constrained Floating-Base Robots, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, Illinois, 2014, pp. 3227-3232. [preprint] [doi] [bibtex]
• Clady, X., Clercq, C., Ieng, S., Houseini, F., Randazzo, M., Natale, L., Bartolozzi, C., and Benosman, R., Asynchronous Visual Event-based Time-to-Contact, Frontiers in Neuroscience, vol. 8, no. 9, 2014. [doi] [bibtex]
• Ciliberto, C., Fiorio, L., Maggiali, M., Natale, L., Rosasco, L., Metta, G., Sandini, G., and Nori, F., Exploiting global force torque measurements for local compliance estimation in tactile arrays, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, USA, 2014, pp. 3994-3999. [doi] [bibtex]
• Cicala, G., Khalili, A., Metta, G., Natale, L., Pathak, S., Pulina, L., and Tacchella, A., Engineering Approaches and Methods to Verify Software in Autonomous Systems, International Conference on Intelligent Autonomous Systems: Springer International Publishing, pp. 1683-1700, 2014. [doi] [bibtex]

2013

• Traversaro, S., Del Prete, A., Muradore, R., Natale, L., and Nori, F., Inertial Parameter Identification Including Friction and Motor Dynamics, in IEEE-RAS International Conference on Humanoid Robots, Atlanta, GA, 2013, pp. 68-73. [preprint] [doi] [bibtex]
• Tikhanoff, V., Pattacini, U., Natale, L., and Metta, G., Exploring affordances and tool use on the iCub, in IEEE-RAS International Conference on Humanoid Robots, Atlanta, Georgia, 2013, pp. 130-137. [doi] [bibtex]
• Sciutti, A., Del Prete, A., Natale, L., Burr, D. C., Sandini, G., and Gori, M., Perception during interaction is not based on statistical context, in 8th ACM/IEEE International Conference on Human-Robot Interaction, Tokyo, Japan, 2013, pp. 225-226. [doi] [bibtex]
• Saegusa, R., Metta, G., Sandini, G., and Natale, L., Developmental Perception of Actions for Manipulative Interaction, in IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 2013, pp. 4967-4972. [doi] [bibtex]
• Saegusa, R., Metta, G., Sandini, G., and Natale, L., Action Learning based on Developmental Body Perception, in IEEE International Conference on Industrial Technology, Cape Town, South Africa, 2013, pp. 1866-1871. [doi] [bibtex]
• Paikan, A., Metta, G., and Natale, L., A port–arbitrated mechanism for behavior selection in humanoid robotics, in IEEE International Conference on Advanced Robotics, Montevideo, Uruguay, 2013, pp. 1-7. [doi] [bibtex]
• Paikan, A., Metta, G., and Natale, L., Exploiting data flow ports for coordination of concurrent components, in ICRA 2013 Workshop on Software development and integration in robotics, Karlsruhe, Germany, 2013. [pdf] [bibtex]
• Natale, L., Nori, F., Metta, G., Fumagalli, M., Ivaldi, S., Pattacini, U., Randazzo, M., Schmitz, A., and Sandini, G., The iCub Platform: A Tool for Studying Intrinsically Motivated Learning, Intrinsically Motivated Learning in Natural and Artificial Systems: Springer Berlin Heidelberg, pp. 433-458, 2013. [doi] [bibtex]
• Natale, L., Metta, G., and Nori, F., The iCub software, tools and algorithms, in New Open Source Tools for Robotics from EU Projects, Workshop at the EU Robotics Forum, Lyon, France, 2013. [bibtex]
• Martinez, U., Dodd, T., Natale, L., Metta, G., Prescott, T., and Lepora, N., Active contour following to explore object shape, in IEEE World Haptics Conference, Daejeon, Korea, 2013, pp. 341-346. [doi] [bibtex]
• Maiolino, P., Maggiali, M., Cannata, G., Metta, G., and Natale, L., A Flexible and Robust Large Scale Capacitive Tactile System for Robots, IEEE Sensors Journal, vol. 13, no. 10, pp. 3910-3917, 2013. [preprint] [doi] [bibtex]
• Fanello, S. R., Ciliberto, C., Santoro, M., Natale, L., Metta, G., Rosasco, L., and Odone, F., iCub World: Friendly Robots Help Building Good Vision Data-Sets, in IEEE Conference on Computer Vision and Pattern Recognition Workshops, 2013. [preprint] [doi] [bibtex]
• Fanello, S. R., Ciliberto, C., Natale, L., and Metta, G., Weakly Supervised Strategies for Natural Object Recognition in Robotics, in IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 2013, pp. 4223-4229. [doi] [bibtex]
• Ciliberto, C., Fanello, S. R., Santoro, M., Natale, L., Metta, G., and Rosasco, L., On the Impact of Learning Hierarchical Representations for Visual Recognition in Robotics, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, 2013, pp. 3759-3764. [doi] [bibtex]
• Ceseracciu, E., Domenichelli, D., Fitzpatrick, P., Metta, G., Natale, L., and Paikan, A., A middle way for robotics middleware, in ICRA 2013 Workshop on Software development and integration in robotics, Karlsruhe, Germany, 2013. [pdf] [bibtex]
• Billard, A., Bonfiglio, A., Cannata, G., Cosseddu, P., Torbjorn, D., Dautenhahn, K., Mastrogiovanni, F., Metta, G., Natale, L., Robins, B., Seminara, L., and Valle, M., The ROBOSKIN Project: Challenges and Results, CISM International Centre for Mechanical Sciences: Springer Vienna, pp. 351-358, 2013. [doi] [bibtex]

2012

• Sciutti, A., Del Prete, A., Natale, L., Burr, D. C., Sandini, G., and Gori, M., Central tendency in space perception varies in development and is altered in human-robot interactive tasks, in Humanoids Workshop on Developmental Robotics: Can developmental robotics yield human-like cognitive abilities?, Osaka, Japan, 2012. [bibtex]
• Parmiggiani, A., Maggiali, M., Natale, L., Nori, F., Schmitz, A., Tsagarakis, N., Santos-Victor, J., Becchi, F., Sandini, G., and Metta, G., The Design of the iCub Humanoid Robot, International Journal of Humanoid Robotics, vol. 9, no. 4, 2012. [bibtex]
• Maiolino, P., Ascia, A., Natale, L., Cannata, G., and Metta, G., Large Scale Capacitive Skin for Robots, Smart Actuation and Sensing Systems - Recent Advances and Future Challenges: InTech, 2012. [doi] [bibtex]
• Lallée, S., Pattacini, U., Lemaignan, S., Lenz, A., Melhuish, C., Natale, L., Skachek, S., Hamann, K., Steinwender, J., Sisbot, E., Metta, G., Pipe, T., Alami, R., Warnier, M., Guitton, J., Warneken, F., and Dominey, P., 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, vol. 4, no. 3, pp. 239-253, 2012. [doi] [pdf] [bibtex]
• Kruger, V., Tikhanoff, V., Natale, L., and Sandini G., Imitation Learning of Non-Linear Point-to-Point Robot Motions using Dirichlet Processes, in IEEE International Conference on Robotics and Automation, St. Paul, Minnesota, 2012, pp. 2029-2034. [doi] [bibtex]
• Jamone, L., Natale, L., Sandini, G., and Takanishi, A., Interactive Online Learning of the Kinematic Workspace of a Humanoid Robot, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Algarve, Portugal, 2012, pp. 2606-2612. [doi] [bibtex]
• Jamone, L., Natale, L., Metta, G., Nori, F., and Sandini, G., Autonomous Online Learning of Reaching Behavior in a Humanoid Robot, International Journal of Humanoid Robotics, vol. 9, no. 3, 2012. [doi] [pdf] [bibtex]
• Jamone, L., Natale, L., Hashimoto, K., Sandini, G., and Takanishi, A., Learning the reachable space of a humanoid robot: a bio-inspired approach, in IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Rome, Italy, 2012, pp. 148-1154. [doi] [bibtex]
• Fumagalli, M., Ivaldi, S., Randazzo, M., Natale, L., Metta, G., Sandini, G., and Nori, F., Force feedback exploiting tactile and proximal force/torque sensing, Autonomous Robots, vol. 33, pp. 381-398, 2012. [doi] [pdf] [bibtex]
• Del Prete, A., Nori, F., Metta, G., and Natale, L., Control of Contact Forces: the Role of Tactile Feedback for Contact Localization, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Algarve, Portugal, 2012, pp. 4048-4053. [doi] [bibtex]
• Del Prete, A., Natale, L., Nori, F., and Metta, G., Contact Force Estimations Using Tactile Sensors and Force/Torque Sensors, in HRI 2012 Workshop on Advances in Tactile Sensing and Touch based Human-Robot Interaction, Boston, MA, 2012. [pdf] [bibtex]
• Ciliberto, C., Fanello, S. R., Natale, L., and Metta, G., A Heteroscedastic Approach to Independent Motion Detection for Actuated Visual Sensors, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Algarve, Portugal, 2012, pp. 3907-3913. [doi] [bibtex]
• Ascia, A., Maggiali, M., Natale, L., Ricci, D., and Metta, G., Integration of a sensorized skin on the iCub robot, in HRI 2012 Workshop on Advances in Tactile Sensing and Touch based Human-Robot Interaction, Boston, MA, 2012. [bibtex]
• Ascia, A., Biso, M., Natale, L., Ricci, D., Metta, G., and Sandini, G., Comparison Between Two Implementations of iCub's Fingertip, in Eurosensors XXVI, Krakow, Poland, 2012. [doi] [bibtex]

2011

• Schmitz, A., Maiolino, P., Maggiali, M., Natale, L., Cannata, G., and Metta, G., Methods and Technologies for the Implementation of Large Scale Robot Tactile Sensors, IEEE Transactions on Robotics, vol. 27, no. 3, pp. 389-400, 2011. [doi] [bibtex]
• Saegusa, R., Natale, L., Metta, G., and Sandini, G., Cognitive robotics – active perception of the self and others, in 4th International Conference on Human System Interaction, Yokohama, Japan, 2011, pp. 2158-2246. [doi] [bibtex]
• Saegusa, R., Natale, L., Metta, G., and Sandini, G., Active perception for action mirroring, in International Joint Conference on Neural Networks, San Jose, California, USA, 2011, pp. 2865 -2872. [doi] [bibtex]
• Randazzo, M., Fumagalli, M., Nori, F., Natale, L., Metta, G., and Sandini, G., A comparison between joint level torque sensing and proximal F/T sensor torque estimation: implementation on the iCub, in IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 4161-4167. [doi] [bibtex]
• Metta, G., Natale, L., Nori, F., and Sandini, G., The iCub project: An open source platform for research in embodied cognition, in IEEE Workshop on Advanced Robotics and Its Social Impacts, Half Moon Bay, CA, United States, 2011, pp. 24-26. [doi] [bibtex]
• Lallée, S., Pattacini, U., Boucher, J., Lemaignan, S., Lenz, A., Melhuish, C., Natale, L., Skachek, S., Hamann, K., Steinwender, J., Sisbot, E., Metta, G., Alami, R., Warnier, M., Guitton, J., Warneken, F., and Dominey, P., Towards a Platform-Independent Cooperative Human-Robot Interaction System: II. Perception, Execution and Imitation of Goal Directed Actions, in IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 2895-2902. [doi] [bibtex]
• Jamone, L., Natale, L., Hashimoto, K., Sandini, G., and Takanishi, A., Learning task space control through goal directed exploration, in IEEE International Conference on Robotics and Biomimetics, Phuket Island, Thailand, 2011, pp. 702-708. [doi] [bibtex]
• Jamone, L., Destephe, M., Natale, L., Hashimoto, K., Sandini, G., and Takanishi, A., Learning the Reachable Space Map in a Gaze Centered Reference Frame, in IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Frankfurt, Germany, 2011, pp. 1148-1154. [doi] [bibtex]
• Del Prete, A., Denei, S., Natale, L., Mastrogiovanni, F., Nori, F., Cannata, G., and Metta, G., Skin Spatial Calibration Using Force/Torque Measurements, in IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 3694-3700. [doi] [bibtex]
• Ciliberto, C., Smeraldi, F., Natale, L., and Metta, G., Online Multiple Instance Learning Applied to Hand Detection in a Humanoid Robot, in IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 1526-1532. [doi] [bibtex]
• Ciliberto, C., Pattacini, U., Natale, L., Nori, F., and Metta, G., Reexamining Lucas-Kanade Method for Real-Time Independent Motion Detection: Application to the iCub Humanoid Robot, in IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 4154-4160. [doi] [bibtex]
• Ascia, A., Biso, M., Ansaldo, A., Schmitz, A., Ricci, D., Natale, L., Metta, G., and Sandini, G., Improvement of tactile capacitive sensors of the humanoid robot iCub's fingertips, in IEEE Sensors, Limerick, Ireland, 2011, pp. 504-507. [doi] [bibtex]

2010

• Schmitz, A., Pattacini, U., Nori, F., Natale, L., Metta, G., and Sandini, G., Design, Realization and Sensorization of the Dexterous iCub Hand, in 10th IEEE-RAS International Conference on Humanoid Robots, Nashville, TN, 2010, pp. 186-191. [doi] [bibtex]
• Schmitz, A., Maggiali, M., Natale, L., and Metta, G., Touch Sensors for Humanoid Hands, in IEEE International Symposium on Robots and Human Interactive Communications, Viareggio, Italy, 2010, pp. 691-697. [doi] [bibtex]
• Schmitz, A., Maggiali, M., Natale, L., and Metta, G., Integrating Tactile Sensors into the Hands of the Humanoid Robot iCub, in ICRA 2010 Workshop on Representations for object grasping and manipulation, Anchorage, AK, 2010. [bibtex]
• Schmitz, A., Maggiali, M., Natale, L., Bonino, B., and Metta, G., A Tactile Sensor for the Fingertips of the Humanoid Robot iCub, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 2010, pp. 2212-2217. [doi] [bibtex]
• Pattacini, U., Nori, F., Natale, L., Metta, G., and Sandini, G., An Experimental Evaluation of a Novel Minimum-Jerk Cartesian Controller for Humanoid Robots, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 2010, pp. 1668-1674. [doi] [bibtex]
• Metta, G., Natale, L., Pathak, S., Pulina, L., and Tacchella, A., Safe learning with real-time constraints: a case study, in 3rd International Conference On Industrial, Engineering & Other Applications of Applied Intelligent Systems (Part I), Cordoba, Spain, 2010, pp. 133-142. [doi] [bibtex]
• Metta, G., Natale, L., Pathak, S., Pulina, L., and Tacchella, A., Safe and Effective Learning: a Case Study, in IEEE International Conference on Robotics and Automation, Anchorage, AK, 2010, pp. 4809-4814. [doi] [bibtex]
• Metta, G., Natale, L., Nori, F., Sandini, G., Vernon, D., Fadiga, L., von Hofsten, C., Rosander, K., Santos-Victor, J., Bernardino, A., and Montesano, L., The iCub Humanoid Robot: An Open-Systems Platform for Research in Cognitive Development, Neural Networks, vol. 23, pp. 1125-1134, 2010. [doi] [pdf] [bibtex]
• Lallee, S., Yoshida, E., Mallet, A., Nori, F., Natale, L., Metta, G., Warneken, F., and Dominey, P., Human-Robot Cooperation Based on Interaction Learning, Studies in Computational Intelligence: Springer-Verlag, pp. 508-556, 2010. [doi] [bibtex]
• Lallee, S., Lemaignan, S., Lenz, A., Melhuish, C., Natale, L., Skacheck, S., van der Zant, T., Warneken, F., and Dominey, P., Towards Platform-Independent Cooperative Human-Robot Interaction System: I. Perception, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 2010, pp. 4444-4451. [doi] [bibtex]
• Jamone, L., Fumagalli, M., Natale, L., Nori, F., Metta, G., and Sandini, G., Machine-Learning Based Control of a Human-like Tendon-driven Neck, in IEEE International Conference on Robotics and Automation, Anchorage, AK, 2010, pp. 859-865. [doi] [bibtex]
• Fumagalli, M., Randazzo, M., Nori, F., Natale, L., Metta, G., and Sandini, G., Exploiting Proximal F/T Measurements for the iCub Active Compliance, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 2010, pp. 1870-1876. [doi] [bibtex]
• Fumagalli, M., Gijsberts, A., Ivaldi, S., Jamone, L., Metta, G., Natale, L., Nori, F., and Sandini, G., Learning to Exploit Proximal Force Sensing: a Comparison Approach, Studies in Computational Intelligence: Springer-Verlag, pp. 149-167, 2010. [doi] [bibtex]
• Fitzpatrick, P., Natale, L., and Metta, G., The CMaking of a Humanoid, The Kitware Source: Software Developer's Quarterly, 2010. [bibtex]

2009

• Parmiggiani, A., Randazzo, M., Natale, L., Metta, G., and Sandini, G., Joint torque sensing for the upper-body of the iCub humanoid robot, in IEEE/RAS International Conference on Humanoid Robots, Paris, France, 2009, pp. 15-20. [doi] [bibtex]
• Metta, G., Natale, L., Nori, F., and Sandini, G., Open Source Hardware and Software for Robotics, in ICRA 2009 workshop on Open Source Software in Robotics, Kobe Japan, 2009. [bibtex]
• Lallee, S., Metta, G., Natale, L., Pattacini, U., and Dominey, P., Proprioception of the hand contributes to visual recognition speed and accuracy: Evidence from the Multi-Modal Convergence Map model of Parietal Cortex Area 5, 2009. [bibtex]
• Fumagalli, M., Jamone, L., Metta, G., Natale, L., Nori, F., Parmiggiani, A., Randazzo, M., and Sandini, G., A Force Sensor for the Control of a Human-like Tendon Driven Neck, in IEEE-RAS International Conference on Humanoid Robots, Paris, France, 2009, pp. 478-485. [doi] [bibtex]
• Courtney, P., Michel, O., Cangelosi, A., Tikhanoff, V., Metta, G., Natale, L., Nori, F., and Kernbach, S., Cognitive Systems Platforms using Open Source, Performance Evaluation and Benchmarking of Intelligent Systems: Springer, pp. 139-160, 2009. [doi] [bibtex]

2008

• Tikhanoff, V., Fitzpatrick, P., Nori, F., and Cangelosi, A., The iCub humanoid robot simulator, in Workshop on robot simulators: available software, scientific applications future trends, Nice, France, September 22, 2008, 2008. [bibtex]
• Tikhanoff, V., Cangelosi, A., Fitzpatrick, P., Metta, G., Natale, L., and Nori, F., An open-source simulator for cognitive robotics research: The prototype of the iCub humanoid robot simulator, in 8th Workshop on Performance Metrics for Intelligent Systems, Gaithersburg, MD, USA, 2008, pp. 57-61. [doi] [bibtex]
• Schmitz, A., Maggiali, M., Randazzo, M., Natale, L., and Metta, G., A Prototype Fingertip with High Spatial Resolution Pressure Sensing for the Robot iCub, in IEEE-RAS International Conference on Humanoid Robots, Daejeon, Korea, 2008, pp. 423-428. [doi] [bibtex]
• Metta, G., Vernon, D., Natale, L., Nori, F., and Sandini, G., The iCub humanoid robot: an open platform for research in embodied cognition, in 8th Workshop on Performance Metrics for Intelligent Systems, Gaithersburg, MD, USA, 2008, pp. 50-56. [bibtex]
• Metta, G., Sandini, G., Vernon, D., Natale, L., and Nori, F., The RobotCub Approach to the Development of Cognition, in IROS workshop From Motor to Interaction Learning in Robot, Nice, France, 2008. [bibtex]
• Jamone, L., Natale, L., Metta, G., and Sandini, G., Autonomous on-line learning of reaching behavior in a humanoid robot, in IROS Workshop on Robotics Challenges for Machine Learning, Nice, France, 2008. [doi] [bibtex]
• Fitzpatrick, P., Natale, L., and Metta, G., Shared Challenges in Object Perception for Robots and Infants, Infant and Child Development, vol. 17, no. 1, pp. 7-24, 2008. [doi] [pdf] [bibtex]
• Fitzpatrick, P., Metta, G., and Natale, L., Towards Long-Lived Robot Genes, Robotics and Autonomous Systems, vol. 56, no. 1, pp. 29-45, 2008. [doi] [pdf] [bibtex]
• Dominey, P., Metta, G., Nori, F., and Natale, L., Anticipation and Initiative in Human-Humanoid Interaction, in 8th IEEE-RAS International Conference on Humanoid Robots, Daejeon, Korea, 2008, pp. 693-699. [doi] [bibtex]
• Degallier, S., Righetti, L., Natale, L., Nori, F., Metta, G., and Ijspeert, A., A modular bio-inspired architecture for movement generation for the infant-like robot iCub, in IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Scottsdale, AZ, 2008, pp. 795-800. [doi] [bibtex]

2007

• Nori, F., Natale, L., Sandini, G., and Metta, G., Autonomous learning of 3D reaching in a humanoid robot, in IEEE/RSJ International Conference on Intelligent Robots Systems, San Diego, CA, 2007, pp. 1142-1147. [doi] [bibtex]
• Natale, L., Orabona, F., Metta, G., and Sandini, G., Sensorimotor coordination in a "baby" robot: learning about objects through grasping, Progress in Brain Research: Elsevier Science, pp. 403-424, 2007. [doi] [pdf] [bibtex]
• Natale, L., Nori, F., Sandini, G., and Metta, G., Learning precise 3D reaching in a humanoid robot, in IEEE International Conference on Development and Learning, London, UK, 2007, pp. 324-329. [doi] [bibtex]

2006

• Torres-Jara, E., and Natale, L., Tactile Manipulation of Unknown Objects, in 50th Anniversary Summit of Artificial Intelligence, Monte Verita, Ascona, Switzerland, 2006. [bibtex]
• Natale, L., and Torres-Jara, E., A sensitive approach to grasping, in Sixth international Workshop on Epigenetic Robotics, Paris, France, 2006. [bibtex]
• Natale, L., Metta, G., and Sandini, G., Sviluppo sensorimotorio in un robot umanoide, Sistemi Intelligenti, vol. 1, pp. 95-109, 2006. [bibtex]
• Metta, G., Sandini, G., Natale, L., Craighero, L., and Fadiga, L., Understanding mirror neurons: a bio-robotic approach, Interaction Studies, vol. 7, no. 2, pp. 197-232, 2006. [doi] [bibtex]
• Metta, G., Fitzpatrick, P., and Natale, L., YARP: Yet Another Robot Platform, International Journal of Advanced Robotics Systems, vol. 3, no. 1, pp. 43-48, 2006. [doi] [bibtex]

2005

• Torres-Jara, E., Natale, L., and Fitzpatrick, P., Tapping into Touch, in Fifth International Workshop on Epigenetic Robotics, Nara, Japan, 2005. [project page] [pdf] [bibtex]
• Natale, L., Orabona, F., Metta, G., and Sandini, G., Exploring the world through grasping: a developmental approach, in IEEE International Symposium on Computational Intelligence in Robotics and Automation, Espoo, Finland, 2005, pp. 559-565. [doi] [bibtex]
• Natale, L., Orabona, F., Berton, F., Metta, G., and Sandini, G., From sensorimotor development to object perception, in IEEE-RAS International Conference on Humanoid Robots, Tsukuba, Japan, 2005, pp. 226-231. [doi] [bibtex]
• Natale, L., Metta, G., and Sandini, G., A Developmental Approach to Grasping, in Developmental Robotics 2005 AAAI Spring Symposium, Stanford, CA, 2005. [bibtex]

2004

• Natale, L., Metta, G., and Sandini, G., Learning haptic representation of objects, in International Conference on Intelligent Manipulation and Grasping, Genoa, Italy, 2004, pp. 582-586. [bibtex]

2003

• Metta, G., Sandini, G., Natale, L., and Manzotti, R., Artificial Development Approach to Presence, in Presence 2003, Aalborg, Denmark, 2003. [bibtex]
• Fitzpatrick, P., Metta, G., Natale, L., Rao, S., and Sandini, G., Learning About Objects Through Action -- Initial Steps Towards Artificial Cognition, in IEEE International Conference on Robotics and Automation, Taipei, Taiwan, 2003, pp. 3140-3145. [doi] [bibtex]

2002

• Natale, L., Rao, S., and Sandini, G., Learning to act on objects, in Second International Workshop, BMCV 2002, Tübingen, Germany, 2002, pp. 567-575. [doi] [bibtex]
• Natale, L., Metta, G., and Sandini, G., Development of Auditory-evoked Reflexes: Visuo-acoustic Cues Integration in a Binocular Head, Robotics and Autonomous Systems, vol. 1, no. 2, pp. 87-106, 2002. [doi] [bibtex]
• Metta, G., Natale, L., Rao, S., and Sandini, G., Development of the mirror system: a computational model, Acquafredda di Maratea, Italy, 2002. [bibtex]

2001

• Sandini, G., Metta, G., Panerai, F., Natale, L., and Manzotti, R., Sensory motor technologies: from biology to artificial systems, in Conference on Electroactive polymers and biosystems: new direction in electroactive polymer materials for biomimetic and interactive processes, Castelvecchio Pascoli, Italy, 2001. [bibtex]
• Sandini, G., Metta, G., Natale, L., Panerai, F., Rao, S., and Manzotti, R., From Humans to Humanoids, in Workshop Humanoids A Techno-Ontological Approach, Tokyo, Japan, 2001. [bibtex]
• Natale, L., Metta, G., and Sandini, G., Visuo-Acoustic Cues Integration in an Artificial Developing Agent, in Workshop on Developmental Embodied Cognition (DECO 2001), Edinburgh, UK, 2001. [bibtex]
• Metta, G., Sandini, G., Natale, L., and Panerai, F., Development and Robotics, in IEEE-RAS International Conference on Humanoid Robots, Tokyo, Japan, 2001, pp. 33-42. [bibtex]
• Metta, G., Sandini, G., Natale, L., and Panerai, F., Sensorimotor Interaction in a Developing Robot, in First International Workshop on Epigenetic Robotics: Modeling Cognitive Development in Robotic Systems, Lund, Sweden, 2001. [bibtex]
• Metta, G., Sandini, G., Natale, L., Manzotti, R., and Panerai, F., Development in Artificial Systems, in EDEC 2001 Symposium at the International Conference on Cognitive Science, Beijing China, 2001. [bibtex]
• Metta, G., Natale, L., Manzotti, R., Panerai, F., and Sandini, G., Development and artificial systems: modeling sensori-motor behaviors in a humanoid robot, in Fifth International Conference on Cognitive and Neural Systems (CNS), Boston, MA, 2001. [bibtex]