Istituto Italiano di Tecnologia

About: Istituto Italiano di Tecnologia is a facility organization based out in Genoa, Italy. It is known for research contribution in the topics: Robot & Humanoid robot. The organization has 4561 authors who have published 14595 publications receiving 437558 citations. The organization is also known as: Italian Institute of Technology & IIT.

A DMPs-Based Framework for Robot Learning and Generalization of Humanlike Variable Impedance Skills

Abstract: One promising approach for robots efficiently learning skills is to learn manipulation skills from human tutors by demonstration and then generalize these learned skills to complete new tasks. Traditional learning and generalization methods, however, have not well considered human impedance features, which makes the skills less humanlike and restricted in physical human–robot interaction scenarios. In particular, stiffness generalization has not been well considered. This paper develops a framework that enables the robot to learn both movement and stiffness features from the human tutor. To this end, the upper limb muscle activities of the human tutor are monitored to extract variable stiffness in real time, and the estimated human arm endpoint stiffness is properly mapped into the robot impedance controller. Then, a dynamic movement primitives model is extended and employed to simultaneously encode the movement trajectories and the stiffness profiles. In this way, both position trajectory and stiffness profile are considered for robot motion control in this paper to realize a more complete skill transfer process. More importantly, stiffness generalization and movement generalization can be efficiently realized by the proposed framework. Experimental tests have been performed on a dual-arm Baxter robot to verify the effectiveness of the proposed method.

A realistic large-scale model of the cerebellum granular layer predicts circuit spatio-temporal filtering properties.

Abstract: The way the cerebellar granular layer transforms incoming mossy fiber signals into new spike patterns to be related to Purkinje cells is not yet clear. Here, a realistic computational model of the granular layer was developed and used to address four main functional hypotheses: center-surround organization, time-windowing, high-pass filtering in responses to spike bursts and coherent oscillations in response to diffuse random activity. The model network was activated using patterns inspired by those recorded in vivo. Burst stimulation of a small mossy fiber bundle resulted in granule cell bursts delimited in time (time windowing) and space (center-surround) by network inhibition. This burst-burst transmission showed marked frequency-dependence configuring a high-pass filter with cut-off frequency around 100 Hz. The contrast between center and surround properties was regulated by the excitatory-inhibitory balance. The stronger excitation made the center more responsive to 10-50 Hz input frequencies and enhanced the granule cell output (with spike occurring earlier and with higher frequency and number) compared to the surround. Finally, over a certain level of mossy fiber background activity, the circuit generated coherent oscillations in the theta-frequency band. All these processes were fine-tuned by NMDA and GABA-A receptor activation and neurotransmitter vesicle cycling in the cerebellar glomeruli. This model shows that available knowledge on cellular mechanisms is sufficient to unify the main functional hypotheses on the cerebellum granular layer and suggests that this network can behave as an adaptable spatio-temporal filter coordinated by theta-frequency oscillations.

Red blood cell as an adaptive optofluidic microlens.

Abstract: The perspective of using live cells as lenses could open new revolutionary and intriguing scenarios in the future of biophotonics and biomedical sciences for endoscopic vision, local laser treatments via optical fibres and diagnostics. Here we show that a suspended red blood cell (RBC) behaves as an adaptive liquid-lens at microscale, thus demonstrating its imaging capability and tunable focal length. In fact, thanks to the intrinsic elastic properties, the RBC can swell up from disk volume of 90 fl up to a sphere reaching 150 fl, varying focal length from negative to positive values. These live optofluidic lenses can be fully controlled by triggering the liquid buffer's chemistry. Real-time accurate measurement of tunable focus capability of RBCs is reported through dynamic wavefront characterization, showing agreement with numerical modelling. Moreover, in analogy to adaptive optics testing, blood diagnosis is demonstrated by screening abnormal cells through focal-spot analysis applied to an RBC ensemble as a microlens array.