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Publications

2024

• 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, 2024. [fulltext][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., Wallis, D., Barnagozzi, S., Rosa, S., Randazzo, M., Faraci, S., and Natale, L., Towards a Verifiable Toolchain for Robotics, in Proceedings of AAAI Symposium Series, 2024, pp. 398-403. [fulltext][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. [fulltext][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. [fulltext][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. [fulltext][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. [fulltext][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.
• 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, Seattle, Washington, 2024. [fulltext][bibtex]
• Woolfery, J., Ajoudani, A., Lu, W., and Natale, L., Optimal Configurations for Stiffness and Compliance in Human & Robot Arms, PLoS ONE, vol.19, no.5, 2024.[fulltext][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][fulltext[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. [fulltext][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. [fulltext][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.
• 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.
• 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. [fulltext][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. [fulltext][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.
• 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. [fulltext][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. [fulltext][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. 10443, 2023. [fulltext][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 Proc. IEEE International Conference on Robotics and Automation London, UK, 2023. [preprint][bibtex]

2022

• Lombardi, M., Maiettini, E., Tikhanoff, V., and Natale, L., iCub Knows Where You Look: Exploiting Social Cues for Interactive Object Detection Learning, in Proc. IEEE-RAS International Conference on Humanoid Robots, 2022. [preprint][bibtex]
• Rosasco, A., Berti, S., Bottarel, F., Colledanchise, M., and Natale, L., Towards Confidence-guided Shape Completion for Robotic Applications, in Proc. IEEE-RAS International Conference on Humanoid Robots, 2022. [preprint][bibtex]
• Berti, S., Rosasco, A., Collledanchise, M., and Natale, L., One-Shot Open-Set Skeleton-Based Action Recognition, in Proc. IEEE-RAS International Conference on Humanoid Robots, 2022. [preprint][bibtex]
• 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][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 Proc. IEEE International Conference on Robot & Human Interactive Communication, Naples, Italy, 2022 [preprint][bibtex]
• Ferigo D., Parmiggiani A., Rampone E., Tikhanoff V., Traversaro S., Pucci D., Natale L. Robot Platforms and Simulators Cognitive Robotics, A. Cangelosi and M. Asada, eds.: MIT Press, 2022.
• 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, 2022. [full text][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. [full text][bibtex]
• Vasco, V., Antunes, A. G. P., Tikhanoff, V., Pattacini, G., Natale, L., Gower, V., and Maggiali, G., HR1 Robot: An Assistant for Healthcare Applications, Frontiers in Robotics and AI, 2022. [full text][bibtex]
• Colledanchise, M., and Natale, L., Handling Concurrency in Behavior Trees, IEEE Transactions on robotics, , vol. 38, no. 4, pp. 2557-2576, 2022. [preprint][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. [pdf][bibtex]

2021

• Maiettini, E., Tikhanoff, V., and Natale, L., Weakly-Supervised Object Detection Learning through Human-Robot Interaction, in Proc. International Conference on Humanoid Robotics, Munich, Germany, 2021 [pdf][bibtex]
• Carfi, A., Patten, T., Kuang, Y., Hammound, A., Alameh, M., Maiettini, E., Weinberg, A. I., Faria, D., Mastrogiovanni, F., Alenya, G., Natale, L., Perdereau, V., Vincze, M., and Billard, A., Hand-Object Intraction: From Human Demonstrations to Robot Manipulation, Frontiers in Robotics and AI, 2021.
• Grigoletto, R., Maiettini, E., and Natale, L., Score to Learn: a Comparative Analysis of Scoring Functions for Active Learning in Robotics, in Proc. 13th International Conference on Computer Vision Systems, Wien, Austria, 2021. [full text][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. [full text][bibtex]
• Colledanchise, M., Cicala, G., Domenichelli, E. D., Natale, L., and Tacchella A. Formalizing the Execution Context of Behavior Trees for Runtime Verification of Deliberative Policies, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Prague, Czech Republic, 2021. [pdf][bibtex]
• Safronov, E., Nicola, P., Colledanchise, M., and Natale, L., Active Perception for Ambiguous Objects Classification, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Prague, Czech Republic, 2021. [pdf][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. [pdf][bibtex]
• Colledanchise M., Cicala G., Domenichelli D., Natale L., Tacchella A., A Toolchain to Design, Execute, and Monitor Robots Behaviors Workshop on Robust and Reliable Autonomy in the Wild, IJCAI'21
• Colledanchise, M., and Natale, L., On the Implementation of Behavior Trees in Robotics, IEEE Robotics and Automation Letters, vol. 6, no. 3, 2021. [pdf][bibtex]
• Murali, P., K., 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 Proc. IEEE-RAS International Conference on Robotics and Automation, 2021. [pdf][bibtex]
• Ceola, F., Maiettini, E., Pasquale, G., Rosasco, L., and Natale, L., Fast Object Segmentation Learning with Kernel-based Methods for Robotics, in Proc. IEEE-RAS International Conference on Robotics and Automation, 2021. [pdf][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, 2021. [pdf][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 Proc. 2020 IEEE Globecom Workshops, 2020.
• Safronov, E., Colledanchise, M., and Natale, L., Task Planning with Belief Behavior Trees, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020. [pdf][bibtex]
• Safronov, E., Colledanchise, M., and Natale, L., Compact Belief State Representation for Task Planning, in Proc. IEEE International Conference on Automation Science and Engineering, 2020. [pdf][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 Proc. IEEE IES International Conference on Emerging Technologies and Factory Automation, 2020.
• Parmiggiani, A., Dussoni, S., Natale, L., Metta G.Tactile Sensors, Encyclopedia of Robotics, M.H. Ang, O. Khatib and B. Siciliano, eds., pp. 1-11: Springer Berlin Heidelberg, 2020. [online text][bibtex]
• Natale, L., Distributed Robotic Computing, Encyclopedia of Robotics, M.H. Ang, O. Khatib and B. Siciliano, eds., pp. 1-11: Springer Berlin Heidelberg, 2020. [online text][bibtex]
• Colledanchise, M., Malafronte, D., and Natale, L., Act, Perceive, and Plan in Belief Space for Robot Localization, in Proc. IEEE-RAS International Conference on Robotics and Automation, Paris, France, 2020. [preprint][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. [online text] [preprint][bibtex]
• Maiettini, E., Pasquale, G., Rosasco, L., and Natale, L., On-line Object Detection: a Robotics Challenge, Autonomous Robots, vol. 44, no. 5, pp. 739–757, 2020. [online text] [preprint][bibtex]

2019

• Colledanchise, M., and Natale, L., Analysis and Exploitation of Synchronized Parallel Executions in Behavior Trees, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Macau, China, 2019, pp. 6399-6406. [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 Proc. IEEE-RAS International Conference on Humanoid Robotics, Toronto, Canada, 2019, pp. 194-201. [pdf] [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 Proc. IEEE-RAS International Conference on Humanoid Robotics, Toronto, Canada, 2019, pp. 1-8. [pdf] [bib]
• Giunchiglia, E., Colledanchise, M., Natale, L., and Tacchella, A., Conditional Behavior Trees: Definition, Executability, and Applications, in Proc. IEEE International Conference on Systems, Man, and Cybernetics, Bari, Italy, 2019, pp. 1899-1906. [pdf] [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, Image Analysis and Processing – ICIAP 2019. pp. 488-498. [pdf][online text] [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, pp. 14-26, 2019.[online text] [bibtex]
• Domenichelli, D. E., 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.[online text] [bibtex]
• 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. [online full text][preprint] [bibtex]

2018

• Nguyen, P. D. H., Bottarel, F., Pattacini, U., Hoffmann, M., Natale, L., and Metta, G., Merging Physical and Social Interaction for Effective Human-Robot Collaboration, in Proc. IEEE-RAS International Conference on Humanoid Robots, Beijing, China, 2018, pp. 1-9.[pdf] [bibtex]
• Colledanchise, M., and Natale, L., Improving the Parallel Execution of Behavior Trees, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, 2018, pp. 7103-7110.[pdf] [bibtex]
• Maiettini, E., Pasquale, G., Rosasco, L., and Natale, L., Speeding-up Object Detection Training for Robotics with FALKON, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain 2018, pp. 5770-5776.[pdf] [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 (code article), vol. 5, no. 40, 2018.[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 (code article), vol. 5, no. 98, 2018. [pdf] [bibtex]
• Tsagarakis, N. G., Negrello, F., Garabini, M., Choi, W., Baccelliere, L., Loc, V. G., Noorden, J., Catalano, M., Ferrati, M., Muratore, L., Kryczka, P., Hoffman, E. M., 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. G., and Bicchi, A., WALK-MAN humanoid platform, Springer Tracts in Advanced Robotics, 121, pp. 495-548: Springer International Publishing, 2018.
• 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.
• 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, vol. 2, 2018.[pdf] [bibtex]
• Vezzani, G., Pattacini, U., Pasquale, G., and Natale, L., Improving Superquadric Modeling and Grasping with Prior on Object Shapes, in Proc. IEEE-RAS International Conference on Robotics and Automation, Brisbane, Australia, 2018, pp. 6875-6882. [pdf] [bibtex]
• Fantacci, C., Vezzani, G., Pattacini, U., Tikhanoff, V., and Natale, L., Markerless visual servoing on unknown objects for humanoid robot platforms, in Proc. IEEE-RAS International Conference on Robotics and Automation, Brisbane, Australia, 2018, pp. 3099-3106.[pdf] [bibtex]
• Torres-Jara, E., and Natale, L.,Sensitive Manipulation: manipulation through tactile feedback, International Journal of Humanoid Robotics, vol. 15, no. 1, 2018.[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.[pdf] [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.[pdf] [bibtex]
• Domenichelli, D. E., Traversaro, S., Muratore, L., Rocchi, A., Nori, F., and Natale, L., A Build System for Software Development in Robotic Academic Collaborative Environments, in Proc. IEEE International Conference on Robotic Computing, Laguna Hills, CA, 2018, pp. 33-40.[pdf] [bibtex]

2017

• Natale, L., Bartolozzi, C., Nori, F., Sandini, G., and Metta, G., iCub, Humanoid Robotics: A Reference, P. Vadakkepat, A. Goswami and P. Vadakkepat, eds., pp. 1-33, Dordrecht: Springer Netherlands, 2017. [online text][pdf preprint][bibtex].
• Natale, L., and Cannata, G., Tactile sensing, Humanoid Robotics: A Reference, P. Vadakkepat,A. Goswami and P. Vadakkepat, eds., pp. 1-24, Dordrecht: Springer Netherlands, 2017. [online text][pdf preprint] [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.
• 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. [pdf] [bibtex]
• 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. [online full text][preprint] [bibtex]
• Maiettini, E., Pasquale, G., Rosasco, L., and Natale, L., Interactive Data Collection for Deep Learning Object Detectors on Humanoid Robots, in Proc. IEEE-RAS International Conference on Humanoid Robots, Birmingham, UK 2017, pp. 862–868. [pdf] [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, in IEEE Transactions on Cognitive and Developmental Systems, vol. 10, no. 3, pp. 595-610, 2017. [pdf] [bibtex]
• Vezzani, G., Pattacini, U., Battistelli, G., Chisci, L., and Natale, L., Memory Unscented Particle Filter for 6-DOF Tactile Localization, in IEEE Transactions on Robotics, vol. 33, no. 5, pp. 1139-1155, 2017. [pdf] [bibtex]
• Tsagarakis, G., N., Caldwell, D., G., Negrello, F., Choi, W., Baccelliere, L., Loc, V., G., Noorden, J., Muratore, L., Margan, A., Cardellino, A., Natale, L., Mingo, H., E., 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. [pdf][bibtex]
• Bartolozzi, C., Ros, P., M., 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 Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada, 2017, pp. 166-173. [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 Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada, 2017, pp. 1411-1418. [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 Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada, 2017, pp. 681-688. [pdf] [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. [pdf] [bibtex]
• Vasco, V., Glover, A., Mueggler, E., Scaramuzza, D., Natale, L., and Bartolozzi, C., Independent Motion Detection with Event-driven Cameras, in Proc. IEEE International Conference on Advanced Robotics, Hong Kong, 2017, pp. 530-536. [pdf] [bibtex]
• Regoli, M., Jamali, N., Metta, G., and Natale, L., Controlled Tactile Exploration and Haptic Object Recognition, in Proc. IEEE International Conference on Advanced Robotics, Hong Kong, 2017, pp. 47-54. [pdf] [bibtex]
• Vezzani, G., Pattacini, U., and Natale, L., A Grasping Approach Based on Superquadric Models, in Proc. IEEE International Conference on Robotics and Automation, Singapore, 2017, pp. 1579-1586. [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 Proc. IEEE International Conference on Robotics and Automation, Singapore, 2017, pp. 894-901. [pdf] [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 Proc. IEEE International Conference on Robotics and Automation, Singapore, 2017, pp. 3207-3214. [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. [pdf] [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.

2016

• 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 Humanoids 2016 Workshop: The use of dynamics in the field of humanoid robotics: identification, planning, perception and control, Cancun, Mexico, 2016.
• 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 Tracts in Advanced Robotics, H. Christensen, I. and O. Khatib, eds., pp. 161-182: Springer Verlag, 2016.
• Higy, B., Ciliberto, C., Rosasco, L., and Natale, L., Combining Sensory Modalities and Exploratory Procedures to Improve Haptic Object Recognition in Robotics, in Proc. IEEE-RAS International Conference on Humanoid Robots, Cancun, Mexico, 2016, pp. 117-124. [pdf] [bibtex]
• Jamali, N., Ciliberto, C., Rosasco, L., and Natale, L., Active Perception: Building Objects' Models Using Tactile Exploration, in Proc. IEEE-RAS International Conference on Humanoid Robots, Cancun, Mexico, 2016, pp. 179-185. [pdf] [bibtex]
• Regoli, M., Pattacini, U., Metta, G., and Natale, L., Hierarchical Grasp Controller Using Tactile Feedback, in Proc. IEEE-RAS International Conference on Humanoid Robots, Cancun, Mexico, 2016, pp. 387-394.[pdf] [bibtex]
• Vezzani, G., Jamali, N., Pattacini, U., Battistelli, G., Chisci, L., and Natale, L., A Novel Bayesian Filtering Approach to Tactile Object Recognition, in Proc. IEEE-RAS International Conference on Humanoid Robots, Cancun, Mexico, 2016,pp. 256-263. [pdf] [bibtex]
• Lier, F., Hanheide, M., Natale, L., Schultz, S., Weisz, J., Wachsmuth, S., and Wrede, S., Towards Automated System and Experiment Reproduction in Robotics, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea, 2016, pp. 3298-3305. [pdf] [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 Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea, 2016, pp. 4904-4911. [pdf] [bibtex]
• Bartolozzi, C., Natale, L., Nori, F., and Metta, G., Robots with a sense of touch, Nature Materials, vol. 15, no. 9, pp. 921–925, 2016. [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, doi: 10.3389/frobt.2016.00035. [pdf] [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]
• 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. [pdf] [bibtex]
• Ferrati, M., Settimi, A., Muratore, L., Tsagarakis, N., Natale, L., Palottino, L., The Walk-Man Robot Software Architecture, Frontiers in Robotics and AI, vol. 3, no.25, 2016, doi: 10.3389/frobt.2016.00025. [pdf] [bibtex]
• Natale, L., Paikan, A., Randazzo, M., Domenichelli, D.E.,The iCub Software Architecture: Evolution and Lessons Learned, Frontiers in Robotics and AI, vol. 3, no.24, 2016, doi: 10.3389/frobt.2016.00024. [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, Multibody Dynamics, Computational Methods in Applied Sciences 42, J. Font-Llagunes, ed., pp. 147-164, Switzerland: Springer International Publishing, 2016. [bibtex]

2015

• 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. [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. [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. [pdf] [bibtex]
• Kumar, S., Odone, F., Noceti, N., and Natale, L., Object segmentation using Independent Motion Detection, in Proc IEEE-RAS International Conference on Humanoid Robotics, Seoul, Korea, 2015, pp. 94-100. [pdf] [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 Proc IEEE-RAS International Conference on Humanoid Robotics, Seoul, Korea, 2015, pp. 482-489. [pdf] [bibtex]
• Jamali, N., Maggiali, M., Giovannini, F., Metta, G., and Natale, L., A New Design of a Fingertip for the iCub Hand, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, 2015, pp. 1799-1805. [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 Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, 2015, pp. 498-503. [pdf] [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 Proc. International Conference on Advanced Robotics, Istanbul, Turkey, 2015, pp. 498-503. [pdf] [bibtex]
• Paikan, A., Traversaro, S., Nori, F., and Natale, L.,Generic Testing Framework for Test Driven Development of Robotic Systems, in Proc. Modelling and Simulation for Autonomous Systems Workshop, Prague, Czech Republic, 2015, pp. 216-225. [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 Proc. IEEE International Conference on Robotics and Automation, Seattle, Washington, 2015. [pdf] [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 Proc. IEEE International Conference on Robotics and Automation, Seattle, Washington, 2015. [bibtex]
• Paikan, A., Domenichelli, D., and Natale, L., Communication channel prioritization in a publish-subscribe architecture, in Proc. IEEE Workshop on Software Engineering and Architectures for Realtime Interactive Systems, Arles, France, 2015. [pdf] [bibtex]
• Pasquale, G., Ciliberto, C., Odone, F., Rosasco, L., and Natale, L., Teaching iCub to recognize objects using deep Convolutional Neural Networks, in Proc. 4th Workshop on Machine Learning for Interactive Systems, 2015. [pdf]
• Jamali, N., Metta, G., and Natale, L., iCub Tactile Sensing System: Current State and Future Directions, ICRA Workshop "Get in touch!" Tactile & force sensing for autonomous, compliant, intelligent robots, Washington, Seattle, 2015.
• 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 Proc. ECCOMAS Thematic Conference on Multibody Dynamics, Barcelona, Spain, 2015.

2014

• 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]
• 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]
• 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. [bibtex]
• Clady, X., Clercq, C., Ieng, S.-H., Houseini, F., Randazzo, M., Natale, L., Bartolozzi, C., and Benosman, R. B., Asynchronous Visual Event-based Time-to-Contact, Frontiers in Neuroscience, vol. 8, no. 9, 2014. [pdf] [bibtex]
• 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. [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, R. Cingolani, ed., pp. 155-197, Netherlands: Springer, 2014. [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 Proc. IEEE-RAS International Conference on Humanoid Robots, Madrid, Spain, 2014. [pdf] [bibtex]
• Roncone, A., Pattacini, U., Metta, G., and Natale, L., Gaze Stabilization for Humanoid Robots: a Comprehensive Framework, in Proc. IEEE-RAS International Conference on Humanoid Robots, Madrid, Spain, 2014. [pdf] [bibtex]
• Khalili, A., Natale, L., and Tacchella, A., Reverse Engineering of Middleware for Verification of Robot Control Architectures, Simulation, Modeling, and Programming for Autonomous Robots, Lecture Notes in Computer Science D. Brugali, J. Broenink, T. Kroeger and B. MacDonald, eds., pp. 315-326: Springer International Publishing, 2014. [pdf] [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 Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, Illinois, 2014. [bibtex]
• Del Prete, A., Mansard, N., Nori, F., Metta, G., and Natale, L., Partial Force Control of Constrained Floating-Base Robots, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, Illinois, 2014. [pdf] [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 Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, Illinois, 2014. [pdf] [bibtex]
• Parmiggiani, A., Randazzo, M., Natale, L., and Metta, G., An alternative approach to robot safety, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, Illinois, 2014. [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 Proc. IEEE Multi-conference on Systems and Control, Antibes, France, 2014. [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, in Proc. International Conference on Intelligent Autonomous Systems, Padoa, Italy, 2014.
• Mingo, H. E., Traversaro, S., Alessio, R., Mirko, F., Settimi, A., Romano, F., Natale, L., Bicchi, A., Nori, F., and Tsagarakis, G., Nikos, A YARP based plugin for Gazebo Simulator, in Proc. 2014 Modelling and Simulation for Autonomous Systems, Rome, Italy, 2014. [bibtex]
• Del Prete, A., Romano, F., Natale, L., Metta, G., Sandini, G., and Nori, F., Prioritized Optimal Control, in Proc. IEEE International Conference on Robotics and Automation, Hong Kong, China, 2014. [pdf] [bibtex]
• Paikan, A., Metta, G., and Natale, L., A representation of robotic behaviors using component port arbitration, in Proc. 5th International Workshop on Domain-specific Languages and Models for Robotic Systems, Bergamo, Italy, 2014. [pdf]
• 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 Proc. 4th International Conference on Development and Learning and on Epigenetic Robotics, Genova, Italy, 2014.

2013

• Maiolino, P., Maggiali, M., Cannata, G., Metta, G., Natale, L., A Flexible and Robust Large Scale Capacitive Tactile System for Robots, IEEE Sensors Journal, vol. 13, no. 10, pp. 3910-3917, 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, Romansy 19 – Robot Design, Dynamics and Control, CISM International Centre for Mechanical Sciences, V. Padois, P. Bidaud and O. Khatib, eds., Volume 544, pp. 351-358, Springer Vienna, 2013.
• Natale L., Nori F., Metta G., Fumagalli M., Ivaldi S., Pattacini U., Randazzo M., Schmitz A., Sandini G., The iCub Platform: A Tool for Studying Intrinsically Motivated Learning, G. Baldassarre and M. Mirolli (eds.), Intrinsically Motivated Learning in Natural and Artificial Systems, pp. 433-458, Springer Berlin Heidelberg, 2013. [pdf] [bibtex]
• Paikan, A., Metta, G., and Natale, L., A port–arbitrated mechanism for behavior selection in humanoid robotics, in Proc. IEEE International Conference on Advanced Robotics, Montevideo, Uruguay, 2013, pp 1-7. [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 Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, 2013.
• Traversaro, S., Del Prete, A., Muradore, R., Natale, L., and Nori, F., Inertial Parameter Identification Including Friction and Motor Dynamics, in Proc. IEEE-RAS International Conference on Humanoid Robots, Atlanta, Georgia, 2013. [pdf]
• Tikhanoff, V., Pattacini, U., Natale, L., and Metta, G., Exploring affordances and tool use on the iCub, in Proc. IEEE-RAS International Conference on Humanoid Robots, Atlanta, Georgia, 2013.
• Fanello, S. R., Ciliberto C., Natale, L., Metta, G., Weakly Supervised Strategies for Natural Object Recognition in Robotics, in Proc. IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 2013, pp. 4223-4229.
• Saegusa, R., Metta, G., Sandini, G., Natale, L., Developmental Perception of Actions for Manipulative Interaction, in Proc. IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 2013, pp. 4967-4972.
• Martinez, U., Dodd, T., Natale, L., Metta, G., Prescott, T., and Lepora, N., Active contour following to explore object shape, in Proc. IEEE World Haptics Conference, Daejeon, Korea, 2013, pp. 341-346.
• Saegusa, R., Metta, G., Sandini, G., Natale, L., Action Learning based on Developmental Body Perception,  in Proc. IEEE International Conference on Industrial Technology, Cape Town, South Africa, 2013, pp. 1866-1871.
• Ceseracciu, E., Domenichelli, D., Fitzpatrick F., Metta G., Natale, L., Paikan, A., A middle way for robotics middleware, Software development and integration in robotics, Karlsruhe, Germany, March 6, 2013. [pdf]
• Paikan, A., Metta, G., Natale, L., Exploiting data flow ports for coordination of concurrent components, Software development and integration in robotics, Karlsruhe, Germany, March 6, 2013. [pdf]
• 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 Proc. IEEE Conference on Computer Vision and Pattern Recognition Workshops, 2013.
• Natale, L., Metta, G., Nori, F., The iCub software, tools and algorithms, New Open Source Tools for Robotics from EU Projects, Workshop at the EU Robotics Forum, Lyon France, March 21, 2013.
• Sciutti, A., Del Prete, A., Natale, L., Burr, D. C., Sandini, G., Gori, M., Perception during interaction is not based on statistical context,  in Proc. ACM/IEEE Human Robot Interaction Conference, Tokyo, Japan, 2013, pp. 225-226.

2012

• Lallée, S., Pattacini, U., Lemaignan, S., Lenz, A., Melhuish, C., Natale, L., Skachek, S., Hamann, K., Steinwender, J., Sisbot, E. A., Metta, G., Pipe, T., Alami, R., Warnier, M., Guitton, J., Warneken, F., Dominey, P.F., 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, Volume 4, Issue 3, pp. 239-253, 2012. [pdf] [bibtex]
• Fumagalli, M., Ivaldi, S., Randazzo, M., Natale, L., Metta, G., Sandini, G., Nori, F., Force feedback exploiting tactile and proximal force/torque sensing, Autonomous Robots, Volume 33, pp. 381-398, Springer 2012. [pdf] [bibtex]
• Jamone, L., Natale, L., Nori, F., Metta G., Sandini, G., Autonomous Online Learning of Reaching Behavior in a Humanoid Robot, International Journal of Humanoid Robotics, Volume 9, Issue 3, World Scientific Publishing Company, 2012. [pdf] [bibtex]
• Parmiggiani A., Maggiali M., Natale L., Nori F., Schmitz A., Tsagarakis N., Santos-Victor J., Becchi F., Sandini G., Metta G., The Design of the iCub Humanoid Robot, International Journal of Humanoid Robotics, Volume 9, Issue 4, World Scientific Publishing Company 2012. [pdf] [bibtex]
• Maiolino P., Ascia A., Natale L., Cannata G., Metta G., Large Scale Capacitive Skin for Robots, in G. Berselli, R. Vertechy, G. Vassura (eds.), Smart actuation and sensing systems – Recent advances and future challenges, InTech, 2012.
• Del Prete, A., Nori, F., Metta, G. and Natale, L., Control of Contact Forces: the Role of Tactile Feedback for Contact Localization, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Vilamoura, Algarve, Portugal, October 7-12, 2012. [pdf]
• Jamone, L., Natale, L., Sandini, G. and Takanishi, A., Interactive Online Learning of the Kinematic Workspace of a Humanoid Robot, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Vilamoura, Algarve, Portugal, October 7-12, 2012.
• Ciliberto, C., Fanello, S., R., Natale, L. and Metta, G., A Heteroscedastic Approach to Independent Motion Detection for Actuated Visual Sensors, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Vilamoura, Algarve, Portugal, October 7-12, 2012.
• Ascia, A., Biso, M., Natale, L., Ricci, D., Metta, G., Sandini, G., Comparison Between Two Implementations of iCub’s Fingertip, Eurosensors XXVI, Krakow, Poland, September 9-12, 2012.
• Jamone, L., Natale, L., Hashimoto, K., Sandini, G., Takanishi, A., Learning the reachable space of a humanoid robot: a bio-inspired approach, IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Rome, Italy, June 22-24, 2012.
• Kruger V., Tikhanoff V., Natale L. ,Sandini G., Imitation Learning of Non-Linear Point-to-Point Robot Motions using Dirichlet Processes, IEEE International Conference on Robotics and Automation, Saint Paul, Minnesota, May 14-18, 2012.
• Sciutti, A., Del Prete, A., Natale, L., Burr, D., Sandini, G. and Gori, M., Central tendency in space perception varies in development and is altered in human-robot interactive tasks, Humanoids 2012 Workshop on Developmental Robotics, Osaka, Japan, November 29, 2012.
• Del Prete, A., Natale, L., Nori, F. and Metta, G. 2012, Contact Force Estimations Using Tactile Sensors and Force/Torque Sensors, HRI 2012 Workshop on Advances in Tactile Sensing and Touch based Human-Robot Interaction, Boston, MA, March 5, 2012. [pdf]
• 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.

2011

• Schmitz A., Maiolino P., Maggiali M., Natale L., Cannata G., Metta G., Methods and Technologies for the Implementation of Large Scale Robot Tactile Sensors, IEEE Transactions on Robotics, Volume 27, Issue 3, pp. 389-400, 2011. [pdf] [bibtex]
• Jamone L., Natale L., Hashimoto K., Sandini G. ,Takanishi A., Learning task space control through goal directed exploration, IEEE International Conference on robotics and biomimetics, Phuket Island, Thailand, December 7-11, 2011, pp. 702-708.
• 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, IEEE Sensors, Limerick, Ireland, October 28-31, 2011, pp. 504-507.
• 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.
• Del Prete, A., Denei, S., Natale, L., Mastrogiovanni, F., Nori, F., Cannata, G., Metta, G., Skin Spatial Calibration Using Force/Torque Measurements, IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, California, September 25-30, 2011, pp. 3694-3700. [pdf]
• Ciliberto, C., Smeraldi, F., Natale, L., Metta, G., Online Multiple Instance Learning Applied to Hand Detection in a Humanoid Robot, IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, California, September 25-30, 2011, pp. 1526-1532.
• Ciliberto, C., Pattacini, U., Natale, L., Nori, F., Metta, G., Reexamining Lucas-Kanade Method for Real-Time Independent Motion Detection: Application to the iCub Humanoid Robot, IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, California, September 25-30, 2011, pp. 4154-4160.
• Lallée, S., Pattacini, U., Boucher, J.D., Lemaignan, S., Lenz, A., Melhuish, C., Natale, L., Skachek, S., Hamann, K., Steinwender, J., Sisbot, E.A., Metta, G., Alami, R., Warnier, M., Guitton, J., Warneken, F., Dominey P.F., Towards a Platform-Independent Cooperative Human-Robot Interaction System: II. Perception, Execution and Imitation of Goal Directed Actions, IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, California, September 25-30, 2011, pp. 2895-2902.
• 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,  IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, California, September 25-30, 2011, pp. 4161-4167.
• Metta, G., Natale, L., Nori, F., Sandini, G., Force control and reaching movements on the iCub humanoid robot, 15th International Symposium on Robotics Research, Flagstaff, AZ - 28 August - 1 September 2011.
• Saegusa, R., Natale, L., Metta, G., Sandini, G., Active perception for action mirroring, International Joint Conference on Neural Networks, San Jose, California, July 31 - August 5, 2011, pp. 2865 -2872.
• Saegusa, R., Natale, L., Metta, G., Sandini, G., Cognitive robotics – active perception of the self and others - 4th International Conference on Human System Interaction, Yokohama, Japan, May 19-21, 2011, pp. 2158-2246.
• Jamone, L., Destephe, M., Natale, L., Hashimoto, K., Sandini, G., Takanishi, A. Learning a Reachable Space Map in a Gaze Centered Reference Frame, IEEE ICDL-Epirob, Frankfurt, Germany, August 24-27, 2011, pp. 1148-1154.

2010

• Metta, G., Natale, L., Nori, F., Sandini, G., Vernon, D., Fadiga, L., von Hofsten C., Santos-Victor, J., Bernardino, A. and Montesano, L., The iCub Humanoid Robot: An Open-Systems Platform for Research in Cognitive Development,; Neural Networks, Volume 23, pp. 1125-1134, 2010. [pdf] [bibtex]
• Fitzpatrick P., Natale L., Metta G., The CMaking of a Humanoid, The Kitware Source: Software Developer's Quarterly, Volume 13, pp. 7–9, April 2010.
• Fumagalli, M., Gijsberts, A., Ivaldi, S., Jamone, L., Metta, G., Natale, L., Nori, F., Learning to exploit proximal force sensing: a comparison approach, From Motor Learning to Interaction Learning in Robots, Studies in Computational Intelligence, Volume 264, pp. 149-167, Springer-Verlag, 2010.
• Lallee, S., Yoshida, E., Mallet, A., Nori, F., Natale, L., Metta, G., Warneke, F., Dominey, P.F., Human-Robot Cooperation Based Interaction Learning, From Motor Learning to Interaction Learning in Robots, Studies in Computational Intelligence, Volume 264, pp. 508-556, Springer-Verlag, 2010.
• Schmitz A., Pattacini U., Nori F., Natale L., Metta G. , Sandini G., Design, realization and sensorization of a dextrous hand: the iCub design choices, 10th IEEE-RAS International Conference on Humanoid Robots, Nashville, Tennessee, December 6-8, 2010.
• Fumagalli, M., Nori F., Randazzo, M., Natale, L., Metta, G. and Sandini, G., Exploiting Proximal F/T Measurements for the iCub Torque Control,  IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 18-22, 2010.
• Lallée, S., Lemaignan, S., Lenz, A., Melhuish, C., Natale, L., Skacheck, S., van der Zant, T., Warneken, F. and Dominey, P.F., Towards Platform-Independent Cooperative Human-Robot Interaction System: I. Perception, IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 18-22, 2010.
• Schmitz, A., Maggiali, M., Natale, L., Bonino, B., Metta, G., A tactile sensor for the fingertips of the Humanoid Robot iCub, IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 18-22, 2010.
• Pattacini, U., Nori, F., Natale, L., Metta, G. and Sandini, G., An experimental evaluation of a novel minimum-jerk Cartesian controller for humanoid robots, IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 18-22, 2010.
• Schmitz, A., Maggiali, M., Natale, L., Metta, G. 2010, Touch Sensors for Humanoid Hands, IEEE International Symposium on Robots and Human Interactive Communications, Viareggio, Italy, September 12-15, 2010.
• Jamone, L., Fumagalli, M., Natale, L., Nori, F., Metta, G., Sandini, G., Machine-Learning Based Control of a Human-like Tendon-driven Neck, IEEE International Conference on Robotics and Automation, Anchorage, Alaska, May 3-8, 2010.
• Metta, G., Natale, L., Pathak, S., Pulina, L., Tacchella, A., Safe learning with real-time constraints: a case study, 23th International On Industrial, Engineering, Other Applications of Applied Intelligent Systems, Cordoba, Spain, June 1-4, 2010.
• Metta, G., Natale, L., Pathak, S., Pulina, L., Tacchella, A., Safe and Effective Learning: a Case Study, IEEE International Conference on Robotics and Automation, Anchorage, Alaska, May 3-8, 2010.
• Schmitz, A., Maggiali, M., Natale, L. and Metta, G., Integrating tactile Sensors into hands of the humanoid robot iCub, ICRA 2010 workshop on Representations for object grasping and manipulation, Anchorage, Alaska, May 3-8, 2010.

2009

• Courtney, P., Michel, O., Cangelosi, A., Tikhanoff, V., Metta, G., Natale, L., Nori, F., Kernbach, S., Cognitive Systems Platforms using Open Source, Performance Evaluation and Benchmarking of Intelligent Systems, Volume XIX, 139-160, Springer 2009.
• Fumagalli, M., Jamone, L., Metta, G., Natale, L., Nori, F., Parmiggiani A., Randazzo M., Sandini G., A Force Sensor for the Control of a Human-like Tendon Driven Neck, IEEE-RAS International Conference on Humanoid Robots, Paris, France, December 7-10, 2009.
• Parmiggiani, A., Randazzo, M., Natale, L., Metta, G., Sandini, G., Joint torque sensing for the upper-body of the iCub humanoid robot, IEEE-RAS International Conference on Humanoid Robots, Paris, France, December 7-10, 2009.
• Lallée, S., Metta, G., Natale, L., Pattacini, U., Dominey, P.F., Proprioception of the hand contributes to visual recognition speed and accuracy: Evidence from the Multi-Modal Convergence Map model of Parietal Cortex Area 5, Annual Meeting of the Society for Neuroscience, Chicago, Illinois, October 17-21, 2009.
• Metta, G., Natale, L., Nori, F. And Sandini, G., Open Source Hardware and Software for Robotics, ICRA 2009 workshop on Open Source Software in Robotics, Kobe Japan, May 12-17, 2009.

2008

• Fitzpatrick, P., Needham, A., Natale, L., Metta, G., Shared Challenges in Object Perception for Robots and Infants, Infant and Child Development, Volume 17(1), pp 7-24, Wiley, 2008. [pdf] [bibtex]
• Fitzpatrick, P., Metta, G., and Natale, L., Towards Long-Lived Robot Genes, Robotics and Autonomous Systems, Volume 56, Issue 1, pp. 29-45, Elsevier 2008. [pdf] [bibtex]
• Dominey, P., F., Metta, G., Natale, L. and Nori, F., Anticipation and initiative in human-humanoid interaction,IEEE-RAS International Conference on Humanoid Robots, December 1-3, Daejeon, Korea, 2008.
• Schmitz, A., Maggiali, M., Randazzo, M., Natale, L., Metta, G., A Prototype Fingertip with High Spatial Resolution Pressure Sensing for the Robot iCub, IEEE-RAS International Conference on Humanoid Robots, December 1-3, Daejeon, Korea, 2008, pp. 693-699.
• 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, IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) 2008, October 19-22, Scottsdale, Arizona, USA.
• Metta, G., Sandini, G., Vernon, D., Natale, L. and Nori, F., The iCub Humanoid Robot: an open platform for research in embodied cognition, Workshop on Performance Metrics for Intelligent Systems, National Institute of Standards and Technology, Gaithersburg, MD, USA, 2008, pp. 50-56.
• Tikhanoff, V., Fitzpatrick, P., Metta, G., Natale, L., Nori , F, and Cangelosi, A., An Open Source Simulator for Cognitive Robotics Research: The Prototype of the iCub Humanoid Robot Simulator, Workshop on Performance Metrics for Intelligent Systems, National Institute of Standards and Technology, Gaithersburg, MD, USA, August 19-21, 2008, pp. 57-61.
• Tikhanoff, V., Fitzpatrick, P., Nori, F., Natale, L., Metta G. and Cangelosi, A., The iCub Humanoid Robot Simulator, IROS Workshop on Robot Simulators, September 22, Nice, France, 2008.
• Jamone, L., Natale, L., Metta, G. and Sandini G., Autonomous on-line learning of reaching behavior in a humanoid robot, IROS Workshop on Robotics Challenges for Machine Learning, Nice, September 2008.
• Metta, G., Sandini, G., Vernon, D., Natale, L., Nori, F., The RobotCub Approach to the Development of Cognition, IROS workshop From Motor to Interaction Learning in Robots, September 26, Nice, France, 2008.

2007

• Natale, L., F. Orabona, Metta, G., Sandini, G., Sensorimotor coordination in a "baby" robot: learning about objects through grasping, Progress in Brain Research, From Action to Cognition, Volume 164, Elsevier 2007. [pdf] [bibtex]
• Nori, F., Natale, L., Sandini, G., Metta, G., Autonomous learning of 3D reaching in a humanoid robot, IEEE/RSJ International Conference of Intelligent Robots and Systems, San Diego, CA,  October 29-November 2, 2007.
• Natale, L., Nori, F., Metta, G., Sandini, G., Learning precise 3D reaching in a humanoid robot, IEEE International Conference of Development and Learning, London, UK, July 11-13, 2007.

2006

• Metta, G., Sandini, G., Natale, L., Craighero, L., Fadiga, L., Understanding mirror neurons: a bio-robotic approach, Interaction Studies, Volume 7(2), pp. 197-232, 2006.
• Metta, G., Fitzpatrick, P., Natale, L., YARP: Yet Another Robot Platform, International Journal of Advanced Robotics Systems, special issue on Software Development and Integration in Robotics, Volume 3, Issue 1, pp. 43-48, March 2006. [pdf] [bibtex]
• Natale, L., Torres-Jara, E., A sensitive approach to grasping, Sixth international Conference  on Epigenetic Robotics, Paris, France, September 20-22, 2006.
• Natale, L., Metta, G. and Sandini, G.,  Sviluppo sensorimotorio in un robot umanoide,  Sistemi Intelligenti, numero monografico su Vita Artificiale, Volume 1, pp. 95-109, Il Mulino, April 2006.
• Natale, L., Torres-Jara, E., Tactile Manipulation of Unknown Objects. 50th Anniversary Summit of Artificial Intelligence, Monte Verita, Ascona, Switzerland, July 9-14, 2006.

2005

• Natale, L., Orabona, F., Berton, F., Metta, G., Sandini, G., From sensorimotor development to object perception, IEEE-RAS International Conference on Humanoid Robots, Tsukuba, Japan, December 5-7, 2005.
• Torres-Jara, E., Natale, L., Fitzpatrick, P., Tapping into Touch, Fifth International Workshop on Epigenetic Robotics, Nara, Japan, July 22-24, 2005.
• Natale, L., Orabona, F., Metta, G., Sandini, G., Exploring the world through grasping: a developmental approach, 6th CIRA Symposium, Espoo, Finland, June 27-30, 2005.
• Natale, L., Metta, G., Sandini, G., A developmental Approach to Grasping, Developmental Robotics 2005 AAAI Spring Symposium, Stanford University, Stanford, CA, March 21-23, 2005.

2004

• Natale, L., Metta, G., Sandini, G., Learning haptic representation of objects, International Conference on Intelligent Manipulation and Grasping, Genoa, Italy, July 1-2, 2004.

2003

• Fitzpatrick, P., Metta, G., Natale, L., Rao, S., Sandini, G., Learning About Objects Through Action: Initial Steps Towards Artificial Cognition, IEEE International Conference on Robotics and Automation, Taipei, Taiwan, May 12-17, 2003.
• Metta, G., Sandini, G., Natale, L., Manzotti, R., Artificial Development Approach to Presence, In proceedings of Presence 2003, Aalborg, Denmark, October 6-8, 2003.

2002

• Natale, L., Metta, G., and Sandini, G., Development of Auditory-evoked Reflexes: Visuo-acoustic Cues Integration in a Binocular Head, Robotics and Autonomous Systems, Volume 39, Issue 2, pp. 87-106, Elsevier, 2002.
• Natale, L., Rao, S., Sandini, G., Learning to act on objects, 2nd Workshop on Biologically Motivated Computer Vision. Tübingen, Germany, November 22-24, 2002.
• Metta, G., Natale, L., Rao, S., Sandini, G., Development of the "mirror system": a computational model. In Conference on Brain Development and Cognition in Human Infants. Emergence of Social Communication: Hands, Eyes, Ears, Mouths. Acquafredda di Maratea - Napoli, June 7-12, 2002.

2001

• Metta, G., Sandini, G., Natale, L. and Panerai, F., Sensorimotor interaction in a developing robot, In Proceedings of the First International Workshop on Epigenetic Robotics, Lund, Sweden, September 17-18, 2001.
• Metta, G., Sandini, G., Natale, L., Panerai, F., Development and Robotics. In IEEE-RAS International Conference on Humanoid Robots. Tokyo (Japan), pp. 33-42, November 22-24, 2001.
• Metta, G., Sandini, G., Natale, L., Manzotti, R., Panerai, F., Development in Artificial Systems, In EDEC 2001 Symposium at the International Conference on Cognitive Science, Beijing, China, August 27-31, 2001.
• Sandini, G., Metta, G., Natale, L., Panerai, F., Rao, S., Manzotti, R., From Humans to Humanoids. In Italy-Japan 2001 Workshop Humanoids A Techno-Ontological Approach, Tokyo (Japan), November 21, 2001.
• 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), July 31, 2001.
• Metta, G., Natale, L., Manzotti, R., Panerai, G., 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 (USA), May 29-June 2, 2001.
• Sandini, G., Metta, G., Panerai, F., Natale, L., 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, pp. 139-141, Castelvecchio Pascoli, 2001.