EMERGE’s findings will be communicated at scientific conferences and published in open-access journals. Find below the current list of publications.

Access all publication on the project's Zenodo community clicking here.

A Provably Stable Iterative Learning Controller for Continuum Soft Robots

This letter proposes a purely feedforward iterative learning control algorithm that refines the torque action by leveraging both the knowledge of the model and data obtained from past experience.

M. Pierallini et al., IEEE Robotics and Automation Letters, vol. 8, no. 10, pp. 6427-6434, 2023, DOI: 10.1109/LRA.2023.3307007.

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Evolving and generalising morphologies for locomoting micro-scale robotic agents

This paper explores how the morphology of a multi-cellular micro-robotic agent can be optimised for reliable locomotion using artificial evolution in a stochastic environment.

Uppington, M., Gobbo, P., Hauert, S., & Hauser, H. Journal of Micro and Bio Robotics, 1-11, 2023. DOI: 10.1007/s12213-023-00155-8

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Frappe: fast fiducial detection on low cost hardware

This paper introduces the Frappe (Fiducial Recognition Accelerated with Parallel Processing Elements) algorithm for detecting and decoding the popular ArUco tags.

Jones, S., & Hauert, S., Journal of Real-time Image Processing, 20, 119, 2023. DOI: 10.1007/s11554-023-01373-w

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Intelligence brings responsibility - Even smart AI assistants are held responsible

This paper examines whether purely instrumental AI systems stay clear of responsibility by comparing AI-powered with non-AI-powered car warning systems and measured their responsibility rating alongside their human users.

Deroy, O., Longin, L., & Bahrami, B., Iscience, 26(8), 107494, 2023. DOI: 10.1016/j.isci. 2023.107494

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Interacting with agents without a mind: the case for artificial agents

Do people attribute human traits to non-human entities without a mind, such as AI? Perceived humanness is based on the assumption that the other can act (has agency) and has experiences (thoughts and feelings). This review shows how AI fails to fully elicit these two dimensions of mind perception.

Deroy, O., Current Opinion in Behavioral Sciences, 51, 101282, 2023. DOI: 10.1016/j.cobeha.2023.101282

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Learning 3D shape proprioception for continuum soft robots with multiple magnetic sensors

This letter proposes to use magnetic sensors fully integrated into the robot to achieve proprioception, and a neural architecture to make sense of the highly nonlinear relationship between the perceived intensity of the magnetic field and the shape of the robot.

T. Baaij et al., Soft Matter, vol. 19, no. 1, pp. 44–56, 2023, DOI: 10.1039/D2SM00914E.

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Model-Based Control for Soft Robots With System Uncertainties and Input Saturation

This article aims at solving challenges regarding accuracy and actuation by proposing a robust model-based strategy for the shape control of soft robots with system uncertainty and input saturation.

Shao, X., Pustina, P., Stölzle, M., Sun, G., De Luca, A., Wu, L., & Della Santina, C., IEEE Transactions on Industrial Electronics, 1–10, 2023. DOI: 10.1109/TIE.2023.3303636

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Model-Based Control of Soft Robots: A Survey of the State of the Art and Open Challenges

In continuum soft robotics, softness is not concentrated at the joint level but instead distributed across the whole structure. As a result, soft robots (henceforth, omitting the adjective continuum) are entirely made of continuously deformable elements.

C. Della Santina, C. Duriez and D. Rus, IEEE Control Systems Magazine, vol. 43, no. 3, pp. 30-65, 2023, DOI: 10.1109/MCS.2023.3253419.

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Modelling Handed Shearing Auxetics: Selective Piecewise Constant Strain Kinematics and Dynamic Simulation

This paper proposes two key components extending discrete Cosserat rod model (DCM) to allow for modeling Handed Shearing Auxetics (HSAs) for electrically-actuated continuum soft robots.

M. Stölzle, L. Chin, R. L. Truby, D. Rus and C. D. Santina, 2023 IEEE International Conference on Soft Robotics (RoboSoft), 2023, pp. 1-8, DOI: 10.1109/RoboSoft55895.2023.10121989.

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The Ethics of Terminology: Can We Use Human Terms to Describe AI?

The article challenges the justifications for the linguistic practices of for assigning human-like characteristics observed in the field of AI ethics and AI science communication.

Deroy, O, Topoi, 2023. DOI: 10.1007/s11245-023-09934-1.

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