Harold Martinez

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Grasp stability in the human hand has been resolved by means of an intricate network of mechanoreceptors integrating numerous cues about mechanical events, through an ontogenetic grasp practice. An engineered prosthetic interface introduces considerable perturbation risks in grasping, calling for feedback modalities that address the underlying slip(More)
To provide humanoid robots with means to act in the environment, they need to be endowed with some kind of mechanism to select and extract meaningful information. In this report, we describe a stochastic extension of the attention-selection system of the iCub platform. A super-diffusive stochastic process restricted by a multimodal saliency map, drives the(More)
— The human hand is one of the most complex structures in the body, being involved in dexterous manipulation and fine sensing. Traditional engineering approaches have mostly attempted to match such complexity in robotics without sufficiently stressing on the underlying mechanisms that its morphology encodes. In this work, we propose an artificial skin able(More)
In the area of bipedal locomotion, the spring-loaded inverted pendulum model has been proposed as a unified framework to explain the dynamics of a wide variety of gaits. In this paper, we present an analysis of the mathematical model and its dynamical properties. We use the perspective of hybrid dynamical systems to study the dynamics and define concepts(More)
Bipedal locomotion is a phenomenon that still eludes a fundamental and concise mathematical understanding. Conceptual models that capture some relevant aspects of the process exist but their full explanatory power is not yet exhausted. In the current study, we introduce the robustness criterion which defines the conditions for stable locomotion when steps(More)
In developmental robotics, there is a lot of work related to learning, which focuses on how to enable robots with adaptive capabilities. However, there is not much understanding of how the morphology of sensors and actuators affects the learning process. By taking inspiration from the human vision system, we explore how the sensor integration, its(More)
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