Anthropomorphic robotics website

     A course for the bioengineering curricula

Teaching: Pietro Morasso, Giorgio Metta, Francesco Nori, Ugo Pattacini

- Previous semester home page: click here

When and where:
First semester: Wednesday 13-15 (room B6), Friday 14-16 (room B6).
Second semester: Wednesday 16-18 (room B6), Thursday 11-13 (room B6).

Next exams:

To contact Pietro Morasso:

To contact Giorgio Metta:
     tel: 010-353-2946 or 010-71781411
     email: pasa (AT)

To contact Francesco Nori:
     tel: 010-353-2946 or 010-71781420
     email: iron (AT)

To contact Ugo Pattacini:
     tel: 010-71781420
     email: ugo.pattacini (AT)

Mailing list: robotica (AT)

Use of the mailing list:
- general interest questions and requests
- additional requests about classes and exercises
- announcements about the course
- information exchange about the exercises
- limited to registered users (all students registered at the beginning of the semester)

First semester (September-December): syllabus and lecture notes

Second semester (March-June): syllabus and lecture notes

Papers in connection to classes (please read them, they're typically useful):

    - M. Kawato.
          Internal models for motor control and trajectory planning
          Current Opinion in Neurobiology 1999, 9:718–727. -pdf-
    -  R. Poppele, G. Bosco.
          Sophisticated spinal contributions to motor control
          Trends in Neurosciences Vol.26 No.5 May 2003 -pdf-
    - P. Borroni, M. Montagna, G. Cerri, F. Baldissera.
          Cyclic time course of motor excitability modulation during the observation of a cyclic hand movement
          Brain Research 1065 (2005) 115 – 124. -pdf-
    - L. Fadiga, L. Craighero, G. Buccino, G. Rizzolatti.
          Speech listening specifically modulates the excitability of tongue muscles: a TMS study
          European Journal of Neuroscience, Vol. 15, pp. 399-402, 2002. -pdf-
    - L. Fadiga, L. Fogassi, V. Gallese, G. Rizzolatti.
          Visuomotor neurons: ambiguity of the discharge or ‘motor’ perception?
International Journal of Psychophysiology 35, 2000. pp. 165-177 -pdf-
- G. Rizzolatti, M. Arbib.
          Language within our grasp.

          Trends of Neuroscience. 1998. 21(5) pp. 188-194. -pdf-
   - R.C. Miall, D.M. Wolpert.
          Forward models of physiological motor control.

          Neural Networks Vol 9, Issue 8, 1265-1279, 1996 -pdf-

Optional and extra material

- See the Cognitive Humanoids Laboratory website, the LIRA-Lab and the RobotCub project home page.

- Part of the material presented in the second semester was taken from the book "A Mathematical Introduction to Robotic Manipulation" by Richard Murray, Zexiang Li and Shankar Sastry available here -pdf-.

Problem sets (past exams):

June 2007: -pdf-

January 2006: -pdf- outline of the solution -pdf- attached data sheet -pdf-

November 2005: -pdf- outline of the solution -pdf- attached data sheet -pdf- -pdf-

2005: compito2005.pdf

2004: compito2004.pdf


- L. Sciavicco and B. Siciliano. Robotica Industriale. Modellistica e controllo di manipolatori, seconda edizione. McGraw-Hill. 2000. ISBN 88-386-0874-1. (main textbook for the first semester, also English version available)

- R. Shadmehr and S.P. Wise. The computational Neurobiology of Reaching and Pointing. MIT Press. Cambrige - MA. 2005. ISBN 0-262-19508-9. (in particular, chapter 7 and 8)

- R.D. Klafter, T.A. Chmielewaski, M. Negin. Robotic Engineering, an integrated approach. Prentice-Hall International Ed. 1989. (some practicalities about robot control)

- Gazzaniga, M. S. The Cognitive Neurosciences. Cambridge: MIT-Press. 1996.

- Kandel, E. R., Schwartz, J. H., & Jessel, T. M. Principles of Neuroscience. Elsevier. 1991.

- Yoshikawa, T. Foundations of Robotics. The MIT Press, Cambridge MA, London UK. 1990. ISBN 0-262-24028-9.

- Rojas, R. Neural Networks, Springer, 1996.

Arbib, M.A. (1995) The handbook of brain theory and neural networks. MIT Press.

Bernstein, N.A. (1957) The coordination and regulation of movement. Pergamon Press.

Morasso, P., Sanguineti, V. (1997) Self-organization, Cortical Maps and Motor Control. North Holland.

Shepherd, G.M. (1998) The synaptic organization of the brain. Oxford University Press.