IEEE Robotics & Automation Magazine - September 2017 - 83

[14] J. P. Hespanha, P. Naghshtabrizi, and Y. Xu, "A survey of recent results
in networked control systems," Proc. IEEE, vol. 95, no. 1, pp. 138, 2007.
[15] N. Hogan, "Impedance control: An approach to manipulation:
Part II-Implementation," J. Dynamic Syst., Measurement, Control, vol.
107, no. 1, pp. 8-16, 1985.
[16] S. Howard, M. Zefran, and V. Kumar, "On the 6 × 6 Cartesian stiffness matrix for three-dimensional motions," Mechanism Machine Theory, vol. 33, no. 4, pp. 389-408, 1998.
[17] C. Jang, J. E. Lee, S. Lee, and F. C. Park, "A minimum attention control law for ball catching," Bioinspiration & Biomimetics, vol. 10, no. 5,
p. 055008, 2015.
[18] R. S. Johansson and K. J. Cole, "Sensory-motor coordination during grasping and manipulative actions," Current Opinion Neurobiol.,
vol. 2, no. 6, pp. 815-823, 1992.
[19] R. S. Johansson and G. Westling, "Coordinated isometric muscle
commands adequately and erroneously programmed for the weight
during lifting task with precision grip," Experimental Brain Res., vol.
71, pp. 59-71, 1988.
[20] M. Kawato, "Learning internal models of the motor apparatus,"
in The Acquisition of Motor Behavior in Vertebrates, J. R. Bloedel, T.
J. Ebner, and S. P. Wise, Eds. Cambridge, MA: MIT Press, 1996,
p. 409.
[21] M. Kawato, "Internal models for motor control and trajectory
planning," Current Opinion Neurobiol., vol. 9, no. 6, pp. 718-727, 1999.
[22] S. Kim, C. Laschi, and B. Trimmer, "Soft robotics: A bioinspired
evolution in robotics," Trends Biotechnol., vol. 31, no. 5, pp. 287-294,
2013.
[23] K. P. Körding and D. M. Wolpert, "Bayesian integration in sensorimotor learning," Nature, vol. 427, no. 6971, pp. 244-247, 2004.
[24] J. W. Krakauer and P. Mazzoni, "Human sensorimotor learning:
Adaptation, skill, and beyond," Current Opinion Neurobiol., vol. 21,
no. 4, pp. 636-644, 2011.
[25] F. Lacquaniti, F. Licata, and J. F. Soechting, "The mechanical
behavior of the human forearm in response to transient perturbations," Biol. Cybern, vol. 44, no. 1, pp. 35-46, 1982.
[26] F. Lacquaniti and C. Maioli, "The role of preparation in tuning
anticipatory and reflex responses during catching," J. Neurosci., vol. 9,
no. 1, pp. 134-148, 1989.
[27] J. H. Lee, "Model predictive control: Review of the three decades of
development," Int. J. Control, Autom. Syst., vol. 9, no. 3, pp. 415-424, 2011.
[28] L. Marconi, L. Praly, and A. Isidori, "Output stabilization via nonlinear Luenberger observers," SIAM J. Control Optimization, vol. 45,
no. 6, pp. 2277-2298, 2007.
[29] N. C. Martins and M. Dahleh, "Feedback control in the presence
of noisy channels:bode-like fundamental limitations of performance,"
IEEE Trans. Autom. Control, vol. 53, no. 7, pp. 1604-1615, 2008.
[30] R. Osu, D. W. Franklin, H. Kato, H. Gomi, K. Domen, T. Yoshioka,
and M. Kawato, "Short- and long-term changes in joint co-contraction
associated with motor learning as revealed from surface EMG," J. Neurophysiology, vol. 88, no. 2, pp. 991-1004, 2002.
[31] P. R. Ouyang, B. A. Petz, and F. F. Xi, "Iterative learning control
with switching gain feedback for nonlinear systems," J. Computational
Nonlinear Dynamics, vol. 6, no. 1, pp. 011020, 2011.
[32] P. Gianluca, M. Claudio, and D. L. Alessandro, "On the feedback
linearization of robots with variable joint stiffness," in Proc. IEEE Int.
Conf. Robotics Automation (ICRA), 2008, pp. 1753-1759.

[33] R. Pfeifer and G. Gómez, "Morphological computation-connecting
brain, body, and environment," in Creating Brain-Like Intelligence, B.
Sendhoff, E. Körner, O. Sporns, H. Ritter, and K. Doya, Eds. Berlin,
Germany: Springer-Verlag, 2009, pp. 66-83.
[34] G. Pratt and M. M. Williamson, "Series elastic actuators," in Proc.
IEEE/RSJ Int. Conf. Intelligent Robots and Systems (Human Robot
Interaction and Cooperative Robots), vol. 1, 1995, pp. 399-406.
[35] S. Schaal and C. Atkeson, "Learning control in robotics," IEEE
Robot. Autom. Mag., vol. 17, no. 2, pp. 20-29, 2010.
[36] L. Sciavicco and B. Siciliano, Modelling and Control of Robot
Manipulators. London, U.K.: Springer-Verlag, 2000.
[37] R. Shadmehr and F. A. Mussa-Ivaldi, "Adaptive representation of
dynamics during learning of a motor task," J. Neurosci., vol. 14, no. 5,
pp. 3208-3224, 1994.
[38] G. Tonietti and A. Bicchi, "Adaptive simultaneous position and
stiffness control for a soft robot arm," in Proc. IEEE/RSJ Int. Conf.
Intelligent Robots and Systems, vol. 2, 2002, pp. 1992-1997.
[39] M. H. van der Linden, D. S. Marigold, F. J. M. Gabreëls, and J. Duysens, "Muscle reflexes and synergies triggered by an unexpected support surface height during walking," J. Neurophysiology, vol. 97, no. 5,
pp. 3639-3650, 2007.
[40] B. Vanderborght, A. Albu-Schäffer, A. Bicchi, E. Burdet, D. G.
Caldwell, R. Carloni, M. Catalano, O. Eiberger, W. Friedl, G. Ganesh,
and M. Garabini, "Variable impedance actuators: A review," Robot.
and Auton. Syst., vol. 61, no. 12, pp. 1601-1614, 2013.
[41] D. M. Wolpert, J. Diedrichsen, and J. Randall Flanagan, "Principles
of sensorimotor learning," Nature Rev. Neurosci., vol. 12, no. 12, pp.
739-751, 2011.

Cosimo Della Santina Enrico Piaggio Research Center, University of Pisa, Italy. E-mail: cosimodellasantina@gmail.com.
Matteo Bianchi, Enrico Piaggio Research Center, University of
Pisa, Italy. E-mail: matteobianchi23@gmail.com.
Giorgio Grioli, Department of Advanced Robotics, Istituto
Italiano di Tecnologia, Genoa, Italy. E-mail: giorgio.grioli@
gmail.com.
Franco Angelini, Enrico Piaggio Research Center, University of
Pisa, Italy and Department of Advanced Robotics, Istituto
Italiano di Tecnologia, Genoa, Italy. E-mail: frncangelini@
gmail.com.
Manuel Catalano, Department of Advanced Robotics, Istituto
Italiano di Tecnologia, Genoa, Italy. E-mail: manuel.catalano@
iit.it.
Manolo Garabini, Enrico Piaggio Research Center, University
of Pisa, Italy. E-mail: manolo.garabini@gmail.com.
Antonio Bicchi, Enrico Piaggio Research Center, University of
Pisa, Italy, and Department of Advanced Robotics, Istituto
Italiano di Tecnologia, Genoa, Italy. E-mail: antonio.bicchi@
unipi.it.

SEPTEMBER 2017

*

IEEE ROBOTICS & AUTOMATION MAGAZINE

*

83



Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2017

IEEE Robotics & Automation Magazine - September 2017 - Cover1
IEEE Robotics & Automation Magazine - September 2017 - Cover2
IEEE Robotics & Automation Magazine - September 2017 - 1
IEEE Robotics & Automation Magazine - September 2017 - 2
IEEE Robotics & Automation Magazine - September 2017 - 3
IEEE Robotics & Automation Magazine - September 2017 - 4
IEEE Robotics & Automation Magazine - September 2017 - 5
IEEE Robotics & Automation Magazine - September 2017 - 6
IEEE Robotics & Automation Magazine - September 2017 - 7
IEEE Robotics & Automation Magazine - September 2017 - 8
IEEE Robotics & Automation Magazine - September 2017 - 9
IEEE Robotics & Automation Magazine - September 2017 - 10
IEEE Robotics & Automation Magazine - September 2017 - 11
IEEE Robotics & Automation Magazine - September 2017 - 12
IEEE Robotics & Automation Magazine - September 2017 - 13
IEEE Robotics & Automation Magazine - September 2017 - 14
IEEE Robotics & Automation Magazine - September 2017 - 15
IEEE Robotics & Automation Magazine - September 2017 - 16
IEEE Robotics & Automation Magazine - September 2017 - 17
IEEE Robotics & Automation Magazine - September 2017 - 18
IEEE Robotics & Automation Magazine - September 2017 - 19
IEEE Robotics & Automation Magazine - September 2017 - 20
IEEE Robotics & Automation Magazine - September 2017 - 21
IEEE Robotics & Automation Magazine - September 2017 - 22
IEEE Robotics & Automation Magazine - September 2017 - 23
IEEE Robotics & Automation Magazine - September 2017 - 24
IEEE Robotics & Automation Magazine - September 2017 - 25
IEEE Robotics & Automation Magazine - September 2017 - 26
IEEE Robotics & Automation Magazine - September 2017 - 27
IEEE Robotics & Automation Magazine - September 2017 - 28
IEEE Robotics & Automation Magazine - September 2017 - 29
IEEE Robotics & Automation Magazine - September 2017 - 30
IEEE Robotics & Automation Magazine - September 2017 - 31
IEEE Robotics & Automation Magazine - September 2017 - 32
IEEE Robotics & Automation Magazine - September 2017 - 33
IEEE Robotics & Automation Magazine - September 2017 - 34
IEEE Robotics & Automation Magazine - September 2017 - 35
IEEE Robotics & Automation Magazine - September 2017 - 36
IEEE Robotics & Automation Magazine - September 2017 - 37
IEEE Robotics & Automation Magazine - September 2017 - 38
IEEE Robotics & Automation Magazine - September 2017 - 39
IEEE Robotics & Automation Magazine - September 2017 - 40
IEEE Robotics & Automation Magazine - September 2017 - 41
IEEE Robotics & Automation Magazine - September 2017 - 42
IEEE Robotics & Automation Magazine - September 2017 - 43
IEEE Robotics & Automation Magazine - September 2017 - 44
IEEE Robotics & Automation Magazine - September 2017 - 45
IEEE Robotics & Automation Magazine - September 2017 - 46
IEEE Robotics & Automation Magazine - September 2017 - 47
IEEE Robotics & Automation Magazine - September 2017 - 48
IEEE Robotics & Automation Magazine - September 2017 - 49
IEEE Robotics & Automation Magazine - September 2017 - 50
IEEE Robotics & Automation Magazine - September 2017 - 51
IEEE Robotics & Automation Magazine - September 2017 - 52
IEEE Robotics & Automation Magazine - September 2017 - 53
IEEE Robotics & Automation Magazine - September 2017 - 54
IEEE Robotics & Automation Magazine - September 2017 - 55
IEEE Robotics & Automation Magazine - September 2017 - 56
IEEE Robotics & Automation Magazine - September 2017 - 57
IEEE Robotics & Automation Magazine - September 2017 - 58
IEEE Robotics & Automation Magazine - September 2017 - 59
IEEE Robotics & Automation Magazine - September 2017 - 60
IEEE Robotics & Automation Magazine - September 2017 - 61
IEEE Robotics & Automation Magazine - September 2017 - 62
IEEE Robotics & Automation Magazine - September 2017 - 63
IEEE Robotics & Automation Magazine - September 2017 - 64
IEEE Robotics & Automation Magazine - September 2017 - 65
IEEE Robotics & Automation Magazine - September 2017 - 66
IEEE Robotics & Automation Magazine - September 2017 - 67
IEEE Robotics & Automation Magazine - September 2017 - 68
IEEE Robotics & Automation Magazine - September 2017 - 69
IEEE Robotics & Automation Magazine - September 2017 - 70
IEEE Robotics & Automation Magazine - September 2017 - 71
IEEE Robotics & Automation Magazine - September 2017 - 72
IEEE Robotics & Automation Magazine - September 2017 - 73
IEEE Robotics & Automation Magazine - September 2017 - 74
IEEE Robotics & Automation Magazine - September 2017 - 75
IEEE Robotics & Automation Magazine - September 2017 - 76
IEEE Robotics & Automation Magazine - September 2017 - 77
IEEE Robotics & Automation Magazine - September 2017 - 78
IEEE Robotics & Automation Magazine - September 2017 - 79
IEEE Robotics & Automation Magazine - September 2017 - 80
IEEE Robotics & Automation Magazine - September 2017 - 81
IEEE Robotics & Automation Magazine - September 2017 - 82
IEEE Robotics & Automation Magazine - September 2017 - 83
IEEE Robotics & Automation Magazine - September 2017 - 84
IEEE Robotics & Automation Magazine - September 2017 - 85
IEEE Robotics & Automation Magazine - September 2017 - 86
IEEE Robotics & Automation Magazine - September 2017 - 87
IEEE Robotics & Automation Magazine - September 2017 - 88
IEEE Robotics & Automation Magazine - September 2017 - 89
IEEE Robotics & Automation Magazine - September 2017 - 90
IEEE Robotics & Automation Magazine - September 2017 - 91
IEEE Robotics & Automation Magazine - September 2017 - 92
IEEE Robotics & Automation Magazine - September 2017 - 93
IEEE Robotics & Automation Magazine - September 2017 - 94
IEEE Robotics & Automation Magazine - September 2017 - 95
IEEE Robotics & Automation Magazine - September 2017 - 96
IEEE Robotics & Automation Magazine - September 2017 - 97
IEEE Robotics & Automation Magazine - September 2017 - 98
IEEE Robotics & Automation Magazine - September 2017 - 99
IEEE Robotics & Automation Magazine - September 2017 - 100
IEEE Robotics & Automation Magazine - September 2017 - 101
IEEE Robotics & Automation Magazine - September 2017 - 102
IEEE Robotics & Automation Magazine - September 2017 - 103
IEEE Robotics & Automation Magazine - September 2017 - 104
IEEE Robotics & Automation Magazine - September 2017 - 105
IEEE Robotics & Automation Magazine - September 2017 - 106
IEEE Robotics & Automation Magazine - September 2017 - 107
IEEE Robotics & Automation Magazine - September 2017 - 108
IEEE Robotics & Automation Magazine - September 2017 - 109
IEEE Robotics & Automation Magazine - September 2017 - 110
IEEE Robotics & Automation Magazine - September 2017 - 111
IEEE Robotics & Automation Magazine - September 2017 - 112
IEEE Robotics & Automation Magazine - September 2017 - 113
IEEE Robotics & Automation Magazine - September 2017 - 114
IEEE Robotics & Automation Magazine - September 2017 - 115
IEEE Robotics & Automation Magazine - September 2017 - 116
IEEE Robotics & Automation Magazine - September 2017 - 117
IEEE Robotics & Automation Magazine - September 2017 - 118
IEEE Robotics & Automation Magazine - September 2017 - 119
IEEE Robotics & Automation Magazine - September 2017 - 120
IEEE Robotics & Automation Magazine - September 2017 - 121
IEEE Robotics & Automation Magazine - September 2017 - 122
IEEE Robotics & Automation Magazine - September 2017 - 123
IEEE Robotics & Automation Magazine - September 2017 - 124
IEEE Robotics & Automation Magazine - September 2017 - 125
IEEE Robotics & Automation Magazine - September 2017 - 126
IEEE Robotics & Automation Magazine - September 2017 - 127
IEEE Robotics & Automation Magazine - September 2017 - 128
IEEE Robotics & Automation Magazine - September 2017 - 129
IEEE Robotics & Automation Magazine - September 2017 - 130
IEEE Robotics & Automation Magazine - September 2017 - 131
IEEE Robotics & Automation Magazine - September 2017 - 132
IEEE Robotics & Automation Magazine - September 2017 - 133
IEEE Robotics & Automation Magazine - September 2017 - 134
IEEE Robotics & Automation Magazine - September 2017 - 135
IEEE Robotics & Automation Magazine - September 2017 - 136
IEEE Robotics & Automation Magazine - September 2017 - 137
IEEE Robotics & Automation Magazine - September 2017 - 138
IEEE Robotics & Automation Magazine - September 2017 - 139
IEEE Robotics & Automation Magazine - September 2017 - 140
IEEE Robotics & Automation Magazine - September 2017 - 141
IEEE Robotics & Automation Magazine - September 2017 - 142
IEEE Robotics & Automation Magazine - September 2017 - 143
IEEE Robotics & Automation Magazine - September 2017 - 144
IEEE Robotics & Automation Magazine - September 2017 - 145
IEEE Robotics & Automation Magazine - September 2017 - 146
IEEE Robotics & Automation Magazine - September 2017 - 147
IEEE Robotics & Automation Magazine - September 2017 - 148
IEEE Robotics & Automation Magazine - September 2017 - 149
IEEE Robotics & Automation Magazine - September 2017 - 150
IEEE Robotics & Automation Magazine - September 2017 - 151
IEEE Robotics & Automation Magazine - September 2017 - 152
IEEE Robotics & Automation Magazine - September 2017 - 153
IEEE Robotics & Automation Magazine - September 2017 - 154
IEEE Robotics & Automation Magazine - September 2017 - 155
IEEE Robotics & Automation Magazine - September 2017 - 156
IEEE Robotics & Automation Magazine - September 2017 - 157
IEEE Robotics & Automation Magazine - September 2017 - 158
IEEE Robotics & Automation Magazine - September 2017 - 159
IEEE Robotics & Automation Magazine - September 2017 - 160
IEEE Robotics & Automation Magazine - September 2017 - 161
IEEE Robotics & Automation Magazine - September 2017 - 162
IEEE Robotics & Automation Magazine - September 2017 - 163
IEEE Robotics & Automation Magazine - September 2017 - 164
IEEE Robotics & Automation Magazine - September 2017 - 165
IEEE Robotics & Automation Magazine - September 2017 - 166
IEEE Robotics & Automation Magazine - September 2017 - 167
IEEE Robotics & Automation Magazine - September 2017 - 168
IEEE Robotics & Automation Magazine - September 2017 - 169
IEEE Robotics & Automation Magazine - September 2017 - 170
IEEE Robotics & Automation Magazine - September 2017 - 171
IEEE Robotics & Automation Magazine - September 2017 - 172
IEEE Robotics & Automation Magazine - September 2017 - 173
IEEE Robotics & Automation Magazine - September 2017 - 174
IEEE Robotics & Automation Magazine - September 2017 - 175
IEEE Robotics & Automation Magazine - September 2017 - 176
IEEE Robotics & Automation Magazine - September 2017 - 177
IEEE Robotics & Automation Magazine - September 2017 - 178
IEEE Robotics & Automation Magazine - September 2017 - 179
IEEE Robotics & Automation Magazine - September 2017 - 180
IEEE Robotics & Automation Magazine - September 2017 - 181
IEEE Robotics & Automation Magazine - September 2017 - 182
IEEE Robotics & Automation Magazine - September 2017 - 183
IEEE Robotics & Automation Magazine - September 2017 - 184
IEEE Robotics & Automation Magazine - September 2017 - Cover3
IEEE Robotics & Automation Magazine - September 2017 - Cover4
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2010
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2010
https://www.nxtbookmedia.com