IEEE Robotics & Automation Magazine - December 2021 - 55

Acknowledgment
This work was supported by an award from the Leverhulme
Trust: " A Biomimetic Forebrain for Robot Touch " (RL2016-39).
Nathan F. Lepora and John Lloyd contributed
equally to this work. This article has supplementary downloadable
material available at https://doi.org/10.1109/
MRA.2021.3096141, provided by the authors.
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Nathan F. Lepora, Department of Engineering Mathematics,
Faculty of Engineering, University of Bristol and Bristol
Robotics Laboratory, Bristol, BS8 1UB, U.K. Email: n.lepora
@bristol.ac.uk.
John Lloyd, Department of Engineering Mathematics, Faculty
of Engineering, University of Bristol and Bristol Robotics
Laboratory, Bristol, BS8 1UB, U.K. Email: jl15313@bristol
.ac.uk.
DECEMBER 2021 * IEEE ROBOTICS & AUTOMATION MAGAZINE *
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IEEE Robotics & Automation Magazine - December 2021

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