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 humanoid robotics, the measurements of forces and torques that the robot exchanges with its surroundings are essential for safe interaction with the environment and with humans. The approach proposed in this thesis can successfully enhance the perceptual capabilities of robots by exploiting only a limited number of both localized and distributed sensors, providing a feasible and convenient solution for achieving active compliance control of humanoid robots.

Over the past three decades, Uzbekistan has attracted the attention of the academic and policy communities because of its geostrategic importance, its critical role in shaping or unshaping Central Asia as a region, its economic and trade potential, and its demographic weight: every other Central Asian being Uzbek, Uzbekistan's political, social, and cultural evolutions largely exemplify the transformations of the region as a whole. And yet, more than 25 years after the collapse of the Soviet Union, evaluating Uzbekistan's post-Soviet transformation remains complicated. Practitioners and scholars have seen access to sources, data, and fieldwork progressively restricted since the early 2000s. The death of President Islam Karimov, in power for a quarter of century, in late 2016, reopened the future of the country, offering it more room for evolution. To better grasp the challenges facing post-Karimov Uzbekistan, this volume reviews nearly three decades of independence. In the first part, it discusses the political construct of Uzbekistan under Karimov, based on the delineation between the state, the elite, and the people, and the tight links between politics and economy. The second section of the volume delves into the social and cultural changes related to labor migration and one specific trigger - the difficulties to reform agriculture. The third part explores the place of religion in Uzbekistan, both at the state level and in society, while the last part looks at the renegotiation of collective identities.

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 pawns in the hands of their leaders voters in competitive authoritarian regimes, do matter are taken seriously. We investigate how regimes and voters interact in the cases of Georgia and Armenia, two post-Soviet countries in the South Caucasus, to identify how voters preferences feed into policy-making and gauge the extent to which the regimes' adjustment of their policies crucially affects regime stability. To these ends, we draw on a variety of quantitative and qualitative methods, including a survey experiment carried out in the two countries. The volume was originally published as a special issue of the journal Caucasus Survey.

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 humanoid robotics, the measurements of forces and torques that the robot exchanges with its surroundings are essential for safe interaction with the environment and with humans. The approach proposed in this thesis can successfully enhance the perceptual capabilities of robots by exploiting only a limited number of both localized and distributed sensors, providing a feasible and convenient solution for achieving active compliance control of humanoid robots.

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 pawns in the hands of their leaders voters in competitive authoritarian regimes, do matter are taken seriously. We investigate how regimes and voters interact in the cases of Georgia and Armenia, two post-Soviet countries in the South Caucasus, to identify how voters preferences feed into policy-making and gauge the extent to which the regimes' adjustment of their policies crucially affects regime stability. To these ends, we draw on a variety of quantitative and qualitative methods, including a survey experiment carried out in the two countries. The volume was originally published as a special issue of the journal Caucasus Survey.