Professor Giorgio Metta
Profiles

Professor Giorgio Metta

Professor of Cognitive Robotics

School of Computing, Electronics and Mathematics (Faculty of Science and Engineering)

Role

Professor of Cognitive Robotics (part time)
Director of iCub Facility (Istituto Italiano di Tecnologia, IIT)
Deputy Director of IIT, delegate to relations with external funding agencies

Qualifications

1994 MSc degree magna cum laude in Electronic Engineering, University of Genoa, Italy
2000 PhD in Computer Science and Electronic Engineering, University of Genoa, Italy
2002 Postdoctoral associate, MIT AI-Lab, MIT, USA
2005 Assistant Professor, University of Genoa, Italy
2006 Researcher, Istituto Italiano di Tecnologia, Italy
2012 Department Director, Istituto Italiano di Tecnologia, Italy

Professional membership

IEEE Senior member

Teaching interests

AINT503 - Interactive Intelligent Systems Workshop (MSc Robotics)

Research interests

Giorgio Metta research activities are in the fields of biologically motivated and humanoid robotics and, in particular, in developing humanoid robots that can adapt and learn from experience. His research developed in collaboration with leading European and international scientists from different disciplines like neuroscience, psychology, computer science and robotics. He is the leading force behind the iCub, a de-facto standard in cognitive robotics in Europe (http://www.iCub.org).

Grants & contracts

Selected European projects
ITALK, grant number 214668 (2008-2012)
RobotDoc, grant number 235065 (2010-2014)
Poeticon++, grant number 288362 (2012-2015)
Xperience, grant number 270273 (2011-2015)
Tacman, grant number 610697 (2014-2016)

Key publications are highlighted

Journals
Articles
Gijsberts A & Metta G 2013 'Real-time model learning using Incremental Sparse Spectrum Gaussian Process Regression' Neural Netw 41, 59-69 Author Site , DOI
Shimizu T, Saegusa R, Ikemoto S, Ishiguro H & Metta G 2012 'Self-protective whole body motion for humanoid robots based on synergy of global reaction and local reflex' Neural Netw 32, 109-118 Author Site , DOI
Tikhanoff V, Cangelosi A & Metta G 2011 'Integration of Speech and Action in Humanoid Robots: iCub Simulation Experiments' IEEE TRANSACTIONS ON AUTONOMOUS MENTAL DEVELOPMENT 3, (1) 17-29 Author Site , DOI
Castellini C, Badino L, Metta G, Sandini G, Tavella M, Grimaldi M & Fadiga L 2011 'The use of phonetic motor invariants can improve automatic phoneme discrimination' PLoS One 6, (9) Author Site , DOI
Metta G, Natale L, Nori F, Sandini G, Vernon D, Fadiga L, von Hofsten C, Rosander K, Lopes M & Santos-Victor J 2010 'The iCub humanoid robot: an open-systems platform for research in cognitive development' Neural Netw 23, (8-9) 1125-1134 Author Site , DOI
Natale L, Orabona F, Metta G & Sandini G 2007 'Sensorimotor coordination in a "baby" robot: learning about objects through grasping' Prog Brain Res 164, 403-424 Author Site , DOI
Craighero L, Metta G, Sandini G & Fadiga L 2007 'The mirror-neurons system: data and models' Prog Brain Res 164, 39-59 Author Site , DOI
Fitzpatrick P & Metta G 2003 'Grounding vision through experimental manipulation' Philos Trans A Math Phys Eng Sci 361, (1811) 2165-2185 Author Site , DOI
Metta G, Sandini G & Konczak J 1999 'A developmental approach to visually-guided reaching in artificial systems' Neural Netw 12, (10) 1413-1427 Author Site
Vernon D, Metta G & Sandini G 0 'A survey of artificial cognitive systems: Implications for the autonomous development of mental capabilities in computational agents' IEEE TRANSACTIONS ON EVOLUTIONARY COMPUTATION 11, {151-180}-{151-180} , DOI
Jamone L, Natale L, Nori F, Metta G & Sandini G 0 'AUTONOMOUS ONLINE LEARNING OF REACHING BEHAVIOR IN A HUMANOID ROBOT' INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS 9, , DOI
Saegusa R, Metta G & Sandini G 0 'Body Definition Based on Visuomotor Correlation' IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 59, {3199-3210}-{3199-3210} , DOI
Metta G & Berthouze L 0 'Epigenetic robotics - Modelling cognitive development in robotic systems' INTERACTION STUDIES 7, {129-134}-{129-134} , DOI
Fumagalli M, Ivaldi S, Randazzo M, Natale L, Metta G, Sandini G & Nori F 0 'Force feedback exploiting tactile and proximal force/torque sensing' AUTONOMOUS ROBOTS 33, {381-398}-{381-398} , DOI
Cangelosi A, Metta G, Sagerer G, Nolfi S, Nehaniv C, Fischer K, Tani J, Belpaeme T, Sandini G & Nori F 0 'Integration of Action and Language Knowledge: A Roadmap for Developmental Robotics' IEEE TRANSACTIONS ON AUTONOMOUS MENTAL DEVELOPMENT 2, {167-195}-{167-195} , DOI
Castellini C, Orabona F, Metta G & Sandini G 0 'Internal models of reaching and grasping' ADVANCED ROBOTICS 21, {1545-1564}-{1545-1564}
Sauser EL, Argall BD, Metta G & Billard AG 0 'Iterative learning of grasp adaptation through human corrections' ROBOTICS AND AUTONOMOUS SYSTEMS 60, {55-71}-{55-71} , DOI
Schmitz A, Maiolino P, Maggiali M, Natale L, Cannata G & Metta G 0 'Methods and Technologies for the Implementation of Large-Scale Robot Tactile Sensors' IEEE TRANSACTIONS ON ROBOTICS 27, {389-400}-{389-400} , DOI
Dahiya RS, Metta G, Valle M, Adami A & Lorenzelli L 0 'Piezoelectric oxide semiconductor field effect transistor touch sensing devices' APPLIED PHYSICS LETTERS 95, , DOI
Metta G, Cheng G, Asfour T, Caputo B & Tsotsos JK 0 'Representations and Architectures for Cognitive Systems' IEEE TRANSACTIONS ON AUTONOMOUS MENTAL DEVELOPMENT 2, {265-266}-{265-266} , DOI
Fitzpatrick P, Needham A, Natale L & Metta G 0 'Shared challenges in object perception on for robots and infants' INFANT AND CHILD DEVELOPMENT 17, {7-24}-{7-24} , DOI
Dahiya RS, Metta G, Cannata G & Valle M 0 'Special Issue on Robotic Sense of Touch' IEEE TRANSACTIONS ON ROBOTICS 27, {385-388}-{385-388} , DOI
Dahiya RS, Metta G, Valle M & Sandini G 0 'Tactile Sensing-From Humans to Humanoids' IEEE TRANSACTIONS ON ROBOTICS 26, {1-20}-{1-20} , DOI
Mohan V, Morasso P, Zenzeri J, Metta G, Chakravarthy VS & Sandini G 0 'Teaching a humanoid robot to draw ‘Shapes’' AUTONOMOUS ROBOTS 31, {21-53}-{21-53} , DOI
Parmiggiani A, Maggiali M, Natale L, Nori F, Schmitz A, Tsagarakis N, Victor JS, Becchi F, Sandini G & Metta G 0 'THE DESIGN OF THE iCub HUMANOID ROBOT' INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS 9, , DOI
Mohan V, Morasso P, Metta G & Kasderidis S 0 'The distribution of rewards in sensorimotor maps acquired by cognitive robots through exploration' NEUROCOMPUTING 74, {3440-3455}-{3440-3455} , DOI
Lallee S, Pattacini U, Lemaignan S, Lenz A, Melhuish C, Natale L, Skachek S, Hamann K, Steinwender J & Sisbot EA 0 'Towards a Platform-Independent Cooperative Human Robot Interaction System: III An Architecture for Learning and Executing Actions and Shared Plans' IEEE TRANSACTIONS ON AUTONOMOUS MENTAL DEVELOPMENT 4, {239-253}-{239-253} , DOI
Fitzpatrick P, Metta G & Natale L 0 'Towards long-lived robot genes' ROBOTICS AND AUTONOMOUS SYSTEMS 56, {29-45}-{29-45} , DOI
Dahiya RS, Cattin D, Adami A, Collini C, Barboni L, Valle M, Lorenzelli L, Oboe R, Metta G & Brunetti F 0 'Towards Tactile Sensing System on Chip for Robotic Applications' IEEE SENSORS JOURNAL 11, {3216-3226}-{3216-3226} , DOI
Metta G, Sandini G, Natale L, Craighero L & Fadiga L 0 'Understanding mirror neurons - A bio-robotic approach' INTERACTION STUDIES 7, {197-232}-{197-232} , DOI
Conference Papers
Courtney P, Michel O, Cangelosi A, Tikhanoff V, Metta G, Natale L, Nori F & Kernbach S 2009 'Cognitive Systems Platforms using Open Source' //0 //0 139-168 , DOI
Nava R NE, Metta G, Sandini G, Tikhanoff V & ASME 2009 'KINEMATIC AND DYNAMIC SIMULATIONS FOR THE DESIGN OF ICUB UPPER-BODY STRUCTURE' //0 //0 413-421
Metta G, Sandini G, Vernon D, Natale L & Nori F 2008 'The iCub humanoid robot: an open platform for research in embodied cognition' //0 //0 New York, NY, USA ACM 50-56 Publisher Site , DOI
Degallier S, Righetti L, Natale L, Nori F, Metta G & Ijspeert A 0 'A modular bio-inspired architecture for movement generation for the infant-like robot iCub' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {883-888}-{883-888}
Orabona F, Metta G & Sandini G 0 'A proto-object based visual attention model' Paletta L; Rome E //0 //0 HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY SPRINGER-VERLAG BERLIN {198-215}-{198-215}
Schmitz A, Maggiali M, Randazzo M, Natale L & Metta G 0 'A Prototype Fingertip with High Spatial Resolution Pressure Sensing for the Robot iCub' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {430-435}-{430-435}
Schmitz A, Maggiali M, Natale L, Bonino B & Metta G 0 'A Tactile Sensor for the Fingertips of the Humanoid Robot iCub' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {2212-2217}-{2212-2217}
Nori F, Jamone L, Sandini G & Metta G 0 'Accurate Control of a Human-like Tendon-driven Neck' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {371-378}-{371-378}
Saegusa R, Metta G & Sandini G 0 'Active Learning for Multiple Sensorimotor Coordination Based on State Confidence' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {2598-2603}-{2598-2603} , DOI
Saegusa R, Metta G & Sandini G 0 'Active Learning for Sensorimotor Coordinations of Autonomous Robots' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {698-703}-{698-703}
Saegusa R, Metta G, Sandini G & Sakka S 0 'Active Motor Babbling for Sensorimotor Learning' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {794-799}-{794-799} , DOI
Browatzki B, Tikhanoff V, Metta G, Buelthoff HH & Wallraven C 0 'Active Object Recognition on a Humanoid Robot' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {2021-2028}-{2021-2028}
Saegusa R, Natale L, Metta G & Sandini G 0 'Active Perception for Action Mirroring' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {2865-2872}-{2865-2872}
Shimizu T, Saegusa R, Ikemoto S, Ishiguro H & Metta G 0 'Adaptive Self-Protective Motion based on Reflex Control' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {2860-2864}-{2860-2864}
Ivaldi S, Baglietto M, Metta G & Zoppoli R 0 'An Application of Receding-Horizon Neural Control in Humanoid Robotics' Magni L; Raimondo DM; Allgower F //0 //0 HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY SPRINGER-VERLAG BERLIN {541-550}-{541-550}
Cannata G, Maggiali M, Metta G & Sandini G 0 'An Embedded Artificial Skin for Humanoid Robots' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {170-174}-{170-174}
Pattacini U, Nori F, Natale L, Metta G & Sandini G 0 'An Experimental Evaluation of a Novel Minimum-Jerk Cartesian Controller for Humanoid Robots' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {1668-1674}-{1668-1674}
Dominey PF, Metta G, Nori F & Natale L 0 'Anticipation and Initiative in Human-Humanoid Interaction' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {340-346}-{340-346}
Nori F, Natale L, Sandini G & Metta G 0 'Autonomous learning of 3D reaching in a humanoid robot' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {1148-1153}-{1148-1153}
Dahiya RS, Valle M, Metta G & Lorenzelli L 0 'Bio inspired Tactile Sensing Arrays' RodriguezVazquez AB; CarmonaGalan RA; LinanCembrano G //0 //0 1000 20TH ST, PO BOX 10, BELLINGHAM, WA 98227-0010 USA SPIE-INT SOC OPTICAL ENGINEERING , DOI
Randazzo M, Fumagalli M, Metta G & Sandini G 0 'Closed loop control of a rotational joint driven by two antagonistic dielectric elastomer actuators' BarCohen Y //0 //0 1000 20TH ST, PO BOX 10, BELLINGHAM, WA 98227-0010 USA SPIE-INT SOC OPTICAL ENGINEERING , DOI
Dahiya RS, Adami A, Valle M, Lorenzelli L & Metta G 0 'CMOS Implementation of POSFET Tactile Sensing Arrays with On Chip Readout' Mauri JL; Hovem JM; Vasseur JP; Dini C //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {80-83}-{80-83} , DOI
Mohan V, Zenzeri J, Morasso P & Metta G 0 'Composing and Coordinating body models of arbitrary connectivity and redundancy: A biomimmetic field computing approach' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {3537-3542}-{3537-3542} , DOI
Beira R, Lopes M, Praca M, Santos-Victor J, Bernardino A, Metta G, Becchi F & Saltaren R 0 'Design of the Robot-Cub (iCub) head' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {94-100}-{94-100}
Duran B, Metta G & Sandini G 0 'Emergence of smooth pursuit using chaos' Serugendo GDM; MartinFlatin JP; Jelasity M; Zambonelli F //0 //0 10662 LOS VAQUEROS CIRCLE, PO BOX 3014, LOS ALAMITOS, CA 90720-1264 USA IEEE COMPUTER SOC {269-272}-{269-272} , DOI
Bartolozzi C, Clercq C, Mandloi N, Rea F, Indiveri G, Fasnacht D, Metta G, Hofstaetter M & Benosman R 0 'eMorph: Towards Neuromorphic Robotic Vision' Giacobino E; Pfeifer R //0 //0 SARA BURGERHARTSTRAAT 25, PO BOX 211, 1000 AE AMSTERDAM, NETHERLANDS ELSEVIER SCIENCE BV {163-165}-{163-165} , DOI
Fumagalli M, Randazzo M, Nori F, Natale L, Metta G & Sandini G 0 'Exploiting Proximal F/T Measurements for the iCub Active Compliance' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {1870-1876}-{1870-1876}
Jamone L, Metta G, Nori F & Sandini G 0 'James: A humanoid robot acting over an unstructured world' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {143-150}-{143-150} , DOI
Natale L, Nori F, Sandini G & Metta G 0 'Learning precise 3D reaching in a humanoid robot' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {217-222}-{217-222}
Jamone L, Fumagalli M, Metta G, Natale L, Nori F & Sandini G 0 'Machine-Learning Based Control of a Human-like Tendon-driven Neck' Rakotondrabe M; Ivan IA //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {859-865}-{859-865} , DOI
Dahiya RS, Valle M, Metta G & Lorenzelli L 0 'Modeling of lossy piezoelectric polymers in SPICE - art. no. 69260Y' Lindner DK //0 //0 1000 20TH ST, PO BOX 10, BELLINGHAM, WA 98227-0010 USA SPIE-INT SOC OPTICAL ENGINEERING {Y9260}-{Y9260}
Wilkinson N, Metta G & Gredeback G 0 'Modelling the face-to-face effect: Sensory population dynamics and active vision can contribute to perception of social context' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE
Gijsberts A, Tommasi T, Metta G & Caputo B 0 'Object Recognition using Visuo-Affordance Maps' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {1572-1578}-{1572-1578}
Ciliberto C, Smeraldi F, Natale L & Metta G 0 'Online Multiple Instance Learning Applied to Hand Detection in a Humanoid Robot' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {1526-1532}-{1526-1532}
Saegusa R, Metta G & Sandini G 0 'Own Body Perception based on Visuomotor Correlation' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE
Dahiya RS, Metta G & Valle M 0 'Piezoelectric Polymer Oxide Semiconductor Field Effect Transistor (POSFET) Devices for Touch Sensing' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {101-105}-{101-105}
Dahiya RS, Valle M, Metta G & Lorenzelli L 0 'POSFET based tactile sensor arrays' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {1075-1078}-{1075-1078} , DOI
Dahiya RS, Lorenzelli L, Metta G & Valle M 0 'POSFET Devices Based Tactile Sensing Arrays' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {893-896}-{893-896}
Stellin G, Cappiello G, Roccella S, Carrozza MC, Dario P, Metta G, Sandini G & Becchi F 0 'Preliminary design of an anthropomorphic dexterous hand for a 2-years-old Humanoid: towards cognition' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {73-78}-{73-78}
Ciliberto C, Pattacini U, Natale L, Nori F & Metta G 0 'Reexamining Lucas-Kanade Method for Real-Time Independent Motion Detection: Application to the iCub Humanoid Robot' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {4154-4160}-{4154-4160}
Saegusa R, Metta G & Sandini G 0 'Robot hand discovery based on visuomotor coherence' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {1732-1737}-{1732-1737} , DOI
Metta G, Natale L, Pathak S, Pulina L & Tacchella A 0 'Safe and Effective Learning: a Case Study' Rakotondrabe M; Ivan IA //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {4809-4814}-{4809-4814} , DOI
Metta G, Natale L, Pathak S, Pulina L & Tacchella A 0 'Safe Learning with Real-Time Constraints: A Case Study' GarciaPedrajas N; Herrera F; Fyfe C; Benitez JM; Ali M //0 //0 HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY SPRINGER-VERLAG BERLIN {133-142}-{133-142}
Saegusa R, Nori F, Sandini G, Metta G & Sakka S 0 'Sensory Prediction for Autonomous Robots' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {102-108}-{102-108}
Del Prete A, Denei S, Natale L, Mastrogiovanni F, Nori F, Cannata G & Metta G 0 'Skin Spatial Calibration Using Force/Torque Measurements' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {3694-3700}-{3694-3700}
Dahiya RS, Valle M & Metta G 0 'System approach: A paradigm for robotic tactile sensing' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {110-115}-{110-115}
Dahiya RS, Valle M, Metta G, Lorenzelli L & Collini C 0 'Tactile sensing arrays for humanoid robots' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {201-204}-{201-204} , DOI
Dahiya RS, Valle M, Metta G & Lorenzelli L 0 'TACTILE SENSING ARRAYS FOR HUMANOID ROBOTS USING PIEZO-POLYMER-FET DEVICES' DiNatale C; DAmico A; Martinelli E; Paolesse R //0 //0 PO BOX 128 FARRER RD, SINGAPORE 9128, SINGAPORE WORLD SCIENTIFIC PUBL CO PTE LTD {301-306}-{301-306}
Mohan V, Metta G, Zenzeri J & Morasso P 0 'Teaching Humanoids to Imitate ‘Shapes’ of Movements' Diamantaras K; Duch W; Iliadis LS //0 //0 HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY SPRINGER-VERLAG BERLIN {234-244}-{234-244}
Vernon D, Metta G & Sandini G 0 'The iCub cognitive architecture: Interactive development in a humanoid robot' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {93-98}-{93-98}
Schmitz A, Maggiali M, Natale L & Metta G 0 'Touch Sensors for Humanoid Hands' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {691-697}-{691-697}
Duran B, Metta G & Sandini G 0 'Towards a “chaotic” smooth pursuit' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {404-409}-{404-409}
Lallee S, Pattacini U, Boucher JD, Lemaignan S, Lenz A, Melhuish C, Natale L, Skachek S, Hamann K & Steinwender J 0 'Towards a Platform-Independent Cooperative Human-Robot Interaction System: II. Perception, Execution and Imitation of Goal Directed Actions' //0 //0 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE {2895-2902}-{2895-2902}