1. 11/23/2009
1
On-going research
projects @ ARTS
and CRIM Labs
ARTS (Advanced Robotics Technology and Systems) Lab
Coordinator: Paolo Dario
Artificial hands
Hand prostheses
Tactile sensors
Neuro-robotics and
bionics
Neural interfaces
Natural interfaces
Sensory information
processing
Robotics for neuro-
rehabilitation
Assistive robotics
Gerontechnologies
Humanoid robotics
Neurodevelopmental
engineering
Service robotics
Biomimetic robotics
Roboethics

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Scuola Superiore Sant’Anna
The model:
The human
hand
Artificial hands @ ARTS Lab (1999-2008)
RTR1 Hand (2000-01)
SoftHand
(2003)
ROBOCASA
(2004)
Cyberhand
(2005)
ROBOTCUB
(2006)
EXPER II
(2008)
RTR2
(2002)
RPP Hand
(2007)
Genie
(2007)
SmartHand
(2008)
Paloma
(2003)
Prof. Maria Chiara Carrozza
Bio-inspired mechatronic
hand prosthesis with
embedded biomimetic
sensors
Neural
electrodes
Implantable system for neural
stimulation and recording
Telemetric link (transceiver) for
both efferent and afferent
signals
Unit for decoding patient's
intentions, for delivering
the cognitive feedback to
the patient and for
prosthesis control
Bionic Hand
www.cyberhand.org

3. 11/23/2009
3
Scuola Superiore Sant’Anna
CyberHand: A neuro-controlled Hand
1. Low-Level Control
2. Feedback Delivery
Allow natural control;
Bidirectional;
Large bandwidth;
Efference
Afference
Neural Interface: Position, Touch, Pressure
Non-Invasive Interface: Touch, Temperature, Pressure.
Contact: Christian Cipriani, email: christian@arts.sssup.it
- 16 DoF
- 4 Motors
- 40 Sensors
SmartHand Prototype (2009)
2009 Clinical evaluation @:
-Lund University, Sweden;
-Johns Hopkins University, USA;
-Aalborg University, Denmark.
[1] G. S. Dhillon and K. W. Horch, “Direct Neural Sensory Feedback and Control of a Prosthetic Arm,” IEEE TNSRE, vol. 13, no.4, pp. 468-472, Dec. 2005.
[2] T. A. Kuiken, P. D. Marasco, B. A. Lock, R. N. Harden and J. P. A. Dewald, “Redirection of cutaneous sensation from the hand to the chest skin of human
amputees with targeted reinnervation,” PNAS, vol. 104, no. 50, pp. 20061-20066, 2007.

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Brain Computer Interface as a tool for
neurological rehabilitation and prosthetics
[1] Eric C. Leuthardt, M.D., Gerwin Schalk, M.S., Daniel Moran, Ph.D., Jeffrey G. Ojemann, M.D., “THE EMERGING WORLD OF MOTOR NEUROPROSTHETICS: A NEUROSURGICAL
PERSPECTIVE”, Review, Neurosurgery 59:1-14, 2006
• implement strategies to control
“smarthand”
• implement methods to apply
in stroke rehab
Contact person: Maria Laura Blefari (m.blefari@sssup.it)
To analyze and understand the workingTo analyze and understand the working
principles ofprinciples of the natural sense of touchthe natural sense of touch
ToTo taketake inspirationinspiration fromfrom thisthis
knowledgeknowledge toto designdesign novelnovel andand betterbetter
tactiletactile artificialartificial sensorysensory systemssystems inin
roboticsroboticsDESIGN&BUILD
biomechatronic
platforms for
investigation of
HUMAN TOUCH
study of texture
neural encoding
(measurement of
peripheral neural
firing and brain
responses by means
of microneurography
and EEG) and for for
psychophysical
experiments on
roughness/texture
perception
In collaboration with
Prof. Alan Wing
University of Birmingham, UK
Prof. Johan Wessberg, Goteborg University, SE
MEMS based approach for artificial fingerpad
for texture encoding
Tissue engineered skin
New approaches investigated for biomimetic
fingertip
Integration of tissue
engineering approaches
with MEMS/NEMS
approach to artificial skin
NEMS capacitive array
MEMS piezoresistive array
Contact person: Lucia Beccai (l.beccai@arts.sssup.it)
In collaboration with
Prof. Mike Adams, Dr. Liam Grover,
Dr. Mike Ward University of Birmingham, UK
Study of Human Touch and artificialStudy of Human Touch and artificial
emulation with tactile systemsemulation with tactile systems
discriminative
touch

5. 11/23/2009
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•L. Beccai et al ““Design and fabrication
of a hybrid silicon three-axial force
sensor for biomechanical applications,”
Sensors and Actuators A, 120, 2, 2005,
pp. 370-382.
•C. M. Oddo et al ,Measurement
Science and Technology, 18, 2007, pp.
623–631.
The artificial approach to a
bio-inspired fingerpad
•L. Beccai et al ,IEEE/ASME Transactions on
Mechatronics, 13, 2, 2008, pp. 158-168
•L. Beccai et al “Sensing fingertip for bioinspired tactile
encoding” 1st Nat. Bioengineering Cong., July 3-5
2008, Pisa (Italy)
•.C. M.Oddo et al ,Sensors 2009, 9(5), pp. 3161-3183
Integration of arrays of
MicroTAF MEMS
with artificial materials
for mimicking human
fingerpad DESIGN&BUILD
sensorized fingertips
with miniature
tactile sensors
Contact person: Lucia Beccai (l.beccai@arts.sssup.it)
SKILSENS – Artificial Sensing Skin
SKILSENS is a soft and flexible artificial sensing skin able to detect
pressure and shape of the object that is contacting. It is composed of
silicone and its consistence is very similar to the human skin
Dimension, spatial resolution, shape, sensitivity and color of the
artificial skin can be changed according to the application.
Patent
pending
25 analog outputs 25 analog outputs
Flexible / Rigid
structure
Black / Skin
colour
Proposed experimental research activities
• Design, development and characterization of Skilsens-based human-
machine interfaces for upper- and lower-limb exoskeletons for the neuro-
rehabiliation, shoe insoles, and other biomedical applications.
Contact persons:
Alessandro Persichetti
(a.persichetti@arts.sssup.it)
Fabrizio Vecchi
(f.vecchi@sssup.it)

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L’ interazione uomo/macchina
In molti settori della Robotica il contatto
fisico fra Robot e Uomo è altamente
probabile, se non necessario
(riabilitazione)
Requisito primario:
Garantire un alto livello di sicurezza per l’
Uomo degradando il meno possibile le
prestazioni del Robot
Limitazione delle forze di interazione e
problematiche di progettazione integrata
meccanica/controllo del Robot
Active compliance
L’impedenza meccanica del Robot è
regolata da algoritmi di controllo
software (controllo di forza e di
impedenza)
Passive compliance
L’impedenza meccanica del Robot è
ottimizzata in fase di progettazione
utilizzando materiali leggeri, rivestimenti
morbidi, trasmissioni elastiche
(più affidabile nel caso di eventi imprevisti
istantanei come un impatto)
Contact person:
Stefano Roccella
(s.roccella@arts.sssup.it,
NEURARM, un modello robotico di arto superiore
uno strumento potente per ricerca neuroscientifica
NEURARM è un robot seriale 2R, con giunti
attuati in modalità antagonista:
masse, inerzie e dimensioni cinematiche
simili al quelle dell’uomo Europeo standard
attuazione antagonista come nei giunti
umani, può quindi regolare la rigidezza dei
propri giunti
NEURARM è utilizzato per studiare:
1. Movimenti di “reaching point-to-point”
2. Interazione con una parete
3. Il task di “catching”
Contact person: Nicola Vitiello
n.vitiello@sssup.it

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NEUROExos: un “esoscheletro” per la
riabilitazione del gomito
• Gusci anatomici per elevato comfort
• meccanismo a 4-gdl per allinearsi
all’asse di rotazione del gomito
• attuazione compliante e bio-inspirata
• Sistema di controllo basato
sull’equilibrium point hypothesis, una
teoria neuroscientifica
• L’interazione persona-macchina è
ottenuta attraverso la “pelle artificiale
Skilsens”
Argomenti di ricerca in corso
• Modulo polso
• Modulo spalla
• Gruppo di attuazione e di
trasmissione
• Nuovi algoritmi e strategie di
interazione uomo-macchina (EMG,
etc.)
Contact persons:
Stefano Roccella
(s.roccella@arts.sssup.it,
Nicola Vitiello
(n.vitiello@sssup.it)
HANDEXOS
PURPOSES
1. Exoskeleton device for post-stroke
rehabilitation of the hand
2. Device for biomechanical measures
of the hand
Proposed thesis:
• Characterization of the spasticity in post-
stroke patients through HANDEXOS
MAIN FEATURES
• 5-fingers independent modules
• fully mobility of the hand with a natural
ROM
• passive and adjustable mechanism on
the intermediate phalanx to partially fit
over hands of different sizes
• low encumbrance both on the lateral
side of the fingers and on lower side of
the hand
• easy wearability, light weight and
comfort
• extrinsic actuation system
Fig. 1. HANDEXOS concept
Fig. 2. HANDEXOS finger module,
first prototype
Fig. 3. HANDEXOS finger module with force sensors
Contact person: Azzurra Chiri (a.chiri@arts.sssup.it)

8. 11/23/2009
8
The ARTS humanoid robot
Anthropomorphic head &
retina-like vision system
7 d.o.f.s (neck & eyes)
7 proprioceptive sensors
2 cameras
Biomechatronic hand
10 d.o.f.s
16 proprioceptive sensors
21 tactile sensors
Anthropomorphic arm
8 d.o.f.s
16 proprioceptive sensors
Total
d.o.f.s: 25
Visual sensors: 2
Proprioceptive sensors: 39
Tactile sensors: 135
PALOMA EU IST-FET
Project IST-2001-33073
P. Dario, M.C. Carrozza, E. Guglielmelli, C. Laschi, A. Menciassi, S.
Micera, F. Vecchi, “Robotics as a “Future and Emerging Technology:
biomimetics, cybernetics and neuro-robotics in European projects”, IEEE
Robotics and Automation Magazine, Vol.12, No.2, June 2005, pp.29-43.
Prof. Paolo Dario
Prof. Cecilia Laschi
Robocasa
Humanoid
Prof. Paolo Dario

9. 11/23/2009
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RoboCasa in Italy:
Robot-An
Official opening:
March 23, 2007
Prof. Paolo Dario
G. Metta, G. Sandini, “Embodiment and complex systems. A commentary
on Barbara Webb: Can robots make good models of biological behavior?”,
Behavioral and Brain Sciences 24(6) pp. 1068-1069, 2001.
To understand how the brain of living systems
transforms sensory input into motor and
cognitive functions by implementing physical
models of sensory-motor behaviours
EU RobotCub
Project
Developing human-like cognitive
capabilities through humanoid bodies
RobotCub Project

10. 11/23/2009
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Emotional robots
study of the brain mechanisms for emotion
recognition, by comparison of human and
robot facial expression recognition
behavioural experiments
fMRI
identification of most significant face elements
design of the robotic emotional face, based on
Ekman’s classification of facial expressions
Compared to normal condition, human faces
evoke significant activity in the Fusiform
Face Area (FFA) (red area in Figure 1). In
neuroimaging studies, this area responds
always to the category “faces”.
On the contrary, compared to normal
condition, robotic faces evoke significant
activity in the lingual fusiform/gyrus (blue
areas in Figure 2). This area usually
responds to the category “objects”
Figure 1 Figure 2
E-Smiler Project (2006-2008), Cassa di Risparmio di Pisa
University of Pisa, Scuola Superiore Sant’Anna, CNR Pisa
Prof. Paolo Dario, Prof. Cecilia Laschi
DustBot

11. 11/23/2009
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1 RATTLE with
force sensors
2 RATTLE with
contact sensors
1 ELECTRONIC
INTERFACE
1 BALL
1 SERIAL
CABLE
Neuro-developmental
engineering
Mechatronic
sensorized
toys for
monitoring
sensory-
motor
behaviour
TACT - Tought in Action
NEST Project #15636
Early diagnosis of autism and ASD by monitoring neuro-
motor development
Prof. Cecilia Laschi
Floating Sensorised Networked
Robots for Water Monitoring
HydroNet (2008-2011)
Objective: to design and develop a new technological platform for improving
the monitoring of water systems, based on a netwrok of sensorized floating
robots and buoys, integrated in an Ambient Intelligence infrastructure.
EU Program:
ENV.2007.3.1.1.2. Technologies for measuring and monitoring networks
Prof. Paolo Dario

12. 11/23/2009
12
Biomimetic Robotics:
observations of the living octopus
Identification of
octopus control
strategies for goal-
directed behavior
Day/night light
80cm
Water
refrigerator
Pumps for
reef
current
Sensors for PH, salinity, O2, temperature, water hardness
Moon phases light
Cameras
Pump for water
circulation
Filter for
water
depuration
Novel Design Principles and Technologies for a
New Generation of High Dexterity Soft-bodied
Robots Inspired by the Morphology and
Behaviour of the Octopus
OCTOPUS (2008-2012)
The OCTOPUS Project has the objective of designing and developing an 8-
arm robot inspired to the muscular structure, neurophysiology and motor
capabilities of the octopus (Octopus vulgaris).
www.octopus-project.eu
Project Duration:
48 months
Project Cost:
9.745.000 €
EC contribution:
7.600.000 €
7 partners from 5
countries
Coordinator: SSSA

13. 11/23/2009
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Livorno, ItalyLivorno, Italy
Official Opening, January 14, 2009
CRIM- CENTRE OF RESEARCH IN
MICROENGENEERING
The CRIM Lab
Coordinator: Paolo Dario
BioBio--inspired and/or bioinspired and/or bio--applied miniaturized and microapplied miniaturized and micro--robots and systemsrobots and systems

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Progetto Europeo LAMPETRA
Life-like Artefacts for Motor-Postural Experiments and Development of new
Control Technologies inspired by Rapid Animal locomotion
LAMPETRA mira a sviluppare e usare piattaforme robotiche
innovative bioispirate (al modello animale della lampreda ovvero
della salamandra) con un duplice obiettivo:
- condurre studi neuroscientifici sul controllo neurale della
locomozione (“goal-directed locomotion”) nei vertebrati;
- progettare nuove soluzioni ingegneristiche per la locomozione
(e in generale l’attuazione) di sistemi, caratterizzate da elevata
efficienza energetica, adattività e affidabilità.
Pesce
Lampreda
Il robot
Sistema di
attuazione
innovativo
basato su
magneti
permanenti
Controllo
bioispirato,
sensori
sviluppati
ad-hoc
Progetto Europeo ANGELS
ANGuilliform robot with ELectric Sense
ANGELS mira a sviluppare un robot
anguilliforme riconfigurabile:
- Il robot si può dividere in robot più piccoli
(moduli / agenti), anch’essi capaci di
nuotare secondo la modalità anguilliforme;
- Ciascun agente è in grado di percepire le
condizioni ambientali (ostacoli, oggetti, altri
moduli) e comunicare con gli altri agenti
attraverso la modulazione di un campo
elettrico (“electric sense”);
- Il modello animale sono i pesci
debolmente elettrici. Il robot amplifica le
loro capacità sensoriali permettendo anche
la riconfigurabilità del senso elettrico
(agendo insieme, gli agenti, possono
percepire oggetti grandi, non percepibili dal
singolo agente).
Gnathonemus petersii
Campo elettrico
attorno al pesce (tipo
dipolo)
Moduli connessi
tramite magneti
permanenti

15. 11/23/2009
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Progetto Europeo Integ-Micro
New production technologies of complex 3D Micro – devices through multi-process
integration of ultra precision engineering techniques
Integ-Micro mira a sviluppare nuove tecnologie per la
produzione di micro componenti.
In particolare, propone l’integrazione multi-processo
(micro-taglio, elettroerosione, ultrasuoni e laser) su
piattaforme riconfigurabili per la lavorazione ultra-precisa di
serie di pezzi miniaturizzati.
Questa strategia (lavorazione multitasking) permette il
raggiungimento di un’elevata precisione di lavorazione,
la riduzione dell’ingombro degli impianti di lavorazione,
la riduzione dei tempi di allestimento e di messa in opera
di linee di produzione innovative per prodotti strategici e,
in generale, l’aumento della produttività.
Testa di MU (microtaglio)
con laser integrato
KERN (partner) Pyramid
Nano
Versatile Endoscopic Capsule for gastrointestinal TumOr Recognition and therapy

16. 11/23/2009
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Progettazione di strumentazione avanzata per chirurgia
“interna” ed endoscopia…
…Non solo al PC o in officina, ma anche sul campo!
Tubingen, Germania,
Settembre 2009.
Un team misto
dall’università (SSSA e
università straniere),
dalle industrie, e dal
mondo della medicina,
in un centro avanzato
per la sperimentazione
preclinica
Miniaturized Vision Systems for endoluminal
applications
Endoluminal surgery requires the support of artificial
vision system
Performance as close as possible to direct vision are
required
Open research:
Miniaturized wireless vision system
for endoscopic pill applications
3D vision system for robotic
surgery

17. 11/23/2009
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www.araknes.org
ARAKNES project
The ARAKNES (Array of Robots Augmenting the KiNematics of
Endoluminal Surgery) Project has received funding from the
European Community's Seventh Framework Programme
(FP7/2007-2013) under grant agreement num. 224565
“…to integrate the advantages of traditional open surgery, laparoscopic surgery, and robotics surgery into a
deeply innovative system for bi-manual, tethered, visible scarless surgery, based on an array of smart
microrobotic instrumentation.”
Main intended interventions: Gastric and abdominal surgery
Sensors
- Technologies for solid state sensor fabrication;
- Sensor for Hg based on resistivity variation of thin gold
film (prototypes and transduction mechanism);
- Sensor networks and related problems,
- Sensor conditioning, Plug and play and smart sensor
interfaces.
- Micro-fabricated Hydrogen Sensor
SSSA - CRIM

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Smart materials
- Artificial muscles/electro active polymers;
- Plant-inspired actuators;
- Nano-structured materials for actuators and sensors.
SSSA - CRIM
BIOMIMETICS ROBOTICS
Robot inspired to plant’s roots for soil exploration
The Plantoid
Dr. Barbara Mazzolai

19. 11/23/2009
19
Courses
General Courses
Introduction to Biorobotics Paolo Dario 3
The main goal of Biorobotics is to analyze biological systems from a
“biomechatronic” viewpoint, with the aim of understanding the scientific
and engineering principles which govern and enable their extraordinary
performances. Biomechatronics is a novel paradigm for machine design,
which considers a mechatronic system together with its interactions with the
external world and with the human operator. After an overview of the
methodologies of Biorobotics, the course will address some biorobotic
systems and case-studies including: 1) a biorobotic system inspired by a
lamprey as a platform for neuroscientific investigations; 2) a biorobotic
system for endoluminal surgery whose locomotion is inspired by insect
locomotion; 3) a user-machine interface for friendly interaction with
teleoperated artefacts.
Human and Animal Models
in Biorobotics
Cecilia Laschi 3
The course introduces the rationale for bioinspiration and biomimetics in
robotics and teaches the methods for designing robotic systems
incorporating human and animal models. Specific cases are described,
like the human models for active vision and tactile perception in robots and
the animal models for soft-bodied robots
Micro- and nano-robotics
for biomedical applications
Arianna
Menciassi
3
The course objective is to provide students with the basic knowledge of
micro- and nano-technologies for biomedical applications. In fact, micro-
and nano-systems for biomedical applications represent a very effective
alternative to traditional therapy and surgery techniques. The course will study
the different technologies and solutions for medicine with a system
approach, by investigating the micro- and nano-devices as mechatronic
systems.

20. 11/23/2009
20
Specific Courses (1/3)
Innovation from Nature:
An introduction to Biomimetic
Robotics
Barbara
Mazzolai
1
This course provides an introduction to the biological classification of living creatures
and to their performance, as well as to biomechanics, ranging from single cells to
entire plants and animals, aimed at designing and developing bioinspired robots and
artificial sensors/actuators. The developed biorobotic systems allow to better understand
the complex biological phenomenon and the animal/environment relationships.
Neurointerfaces and
Neuroprostheses
Silvestro
Micera
1
In the recent past, implantable neural interfaces have been used to gather important
information about the functioning of the central and peripheral nervous systems. There
are also increasing evidences that they can be used to develop different classes of
neural prostheses to restore sensory-motor function in people who lost them for
neurological disorders and disabilities and for traumatic events such as amputation.
Therefore, neural implants could have significant potential to enhance our understanding
of normal and pathological states of the brain, and at the same time significantly impact
the design and use of neural prosthetic devices. The aim of this course is to provide
more information about leading research activities carried out by groups around the
world working to develop more effective neural prostheses. In particular, the following
topics will be covered: (1) neural interfaces as enabling technologies; (2) statistical
algorithms for the characterization of neural signals; (3) different examples of (cortical,
peripheral and vestibular) neural prosthesis. Particular attention will be also devoted to
the possible clinical applications of this kind of technology.
Fundamentals of Continuum
Mechanics
Stefano
Roccella
2
Starting from the definition of “continuum body”, the basic physics laws will be applied
to mechanical systems in order to understand their behaviour under external applied
loads. Solid and fluid bodies will be studied and fundamental criterions will be
discussed in order to verify their strength under applied loads and constraints. The most
important Computer Aided Engineering tools will be illustrated and some advanced
case studies will be investigated. The course will consist of hands-on sessions and
students will be able to solve advanced simulation problems. In particular contact
boundary conditions, structural-dynamics simulations, fluidodynamics simulations and
non linear materials simulations will be illustrated. The final test will consist of a
simulation excercise with a final technical report.
Specific Courses (2/3)
Wireless control for
biorobotic applications
Pietro
Valdastri
1
Thanks to energy efficient systems and miniaturization of electronics, wireless
technology is nowadays enabling the development of unthetered robots. The
main topic of this course is to describe how to implement robotic control on
wireless and low-power platforms. First, the datasheet of a wireless
microcontroller will be analyzed. Then, several examples of unthetered robots
based on such core device will be designed. Finally, examples of programming
code will be given. Hands-on sessions will be organized depending on the
number of attendees.
Biological Materials:
structure and properties
Virgilio
Mattoli
1
The course introduces fundamental properties of most interesting classic natural
(biological) materials, by defining the structure and the properties essentially
from engineering point of view. Particular attention will be devoted to bio-
inspired materials derived form traditional synthetic materials.
Artificial tactile sensing in
biorobotics
Lucia
Beccai
1
The aim of the course is to provide students with an insight on the development
of artificial tactile sensors and to provide a critical analysis on how such a
challenge has been addressed in biorobotics. The main areas that will be
addressed are: functional principles of artificial tactile sensors, technologies and
materials adopted for a tactile sensing and their evolution, case studies and
applications of bio-inspired tactile sensors.

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21
Specific Courses (3/3)
Energy issues
in Biorobotics
and relevant
examples
Cesare
Stefanini
1
In this course two main subjects are addressed: (1) what energy
sources to be used in bioinspired and bio-applied robotic systems
and (2) what means can be adopted to produce mechanical work in
those systems. Familiarity with the above subjects represents a
useful background for engineers involved in the design of high
performance autonomous machines, as in the case of bioinspired
robots and of wearable systems. The course is organized as follows:i.
introduction on energy and actuation issues in Biorobotic systems,
ii. energy sources, iii. actuators, iv. examples
Project Work and Integrative Courses
Projectual Work on
BioRobotics
Paolo Dario 3
Central Pattern
Generators
Sten Grilliner 1
Humanoid Robotics
and Biomechanics
Oussama Khatib 1

22. 11/23/2009
22
Thank You
More info at f.radici@sssup.it,
or cesare@sssup.it or pietro@sssup.it