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This book presents a novel methodology to increase the perceptual capabilities of robotic systems and to perform interaction control by means of a limited amount of mechanical sensors.

This thesis proposes an effective methodology for enhancing the perceptual capabilities and achieving interaction control of the iCub humanoid robot. The method is based on the integration of measurements from different sensors (force/torque, inertial and tactile sensors) distributed along the robot's kinematic chain. Humanoid robots require a substantial amount of sensor information to create their own representations of the surrounding environment. Tactile perception is of primary importance for the exploration process. Also in humans, the tactile system is completely functional at birth....

In recent years, competitive authoritarianism has become an increasingly common form of non-democratic politics. What is the relationship between the demand for particular public policies and a regime’s durability in office in such cases? How does policy-making interact with organizational power, the willingness to resort to coercion and patronage politics in countries home to democratic-looking institutions that none the less fall short of democratic standards? In this book we show that such regimes do more than just survive and collapse. Moreover, we argue that far from being passive...