Picture of Mohsen Kaboli

Dr.-Ing. Mohsen Kaboli

Technical University of Munich

Chair of Cognitive Systems (Prof. Cheng)

Postal address

Karlstraße 45/II
80333 München

Dr. Kaboli is a postdoctoral research associate at ICS led by Prof. Cheng. He is a part of the research project "Artificial Electronic Skin" from TUM-IAS Hans Fischer Senior fellow Prof. Someya.

He was awarded a Ph.D. degree in robotics and tactile sensing with the highest honors (summa cum laude) from the Technical University of Munich (TUM) in December 2017.

He received his Master’s degree in wireless system, signal processing, and machine learning under the supervision of Prof. Danica Kragic from the Royal Institute of Technology (KTH), Sweden in 2011. In April 2013 he was awarded a three-year Marie Curie scholarship in order to pursue his Ph.D. at the Institute for Cognitive Systems (ICS). In March 2012, he received an internship scholarship from the Swiss National Foundation for 18 months in order to continue his research as a research assistant at the Idiap lab, Ecole Polytechnique Federale de Lausanne (EPFL), Switzerland.

From September 2015 till January 2016, he spent 5 months as a visiting research scholar at the Intelligent Systems and Informatics lab (ISI) directed by Prof. Yasuo Kuniyoshi at the University of Tokyo, Japan. He has also been a visiting researcher at the Human Robotics lab, the department of Bioengineering at the Imperial College London supervised by Prof. Etienne Burdet from February till April 2014. In November 2013, he visited the Shadow Robot Company for two months.



• Marie Curie scholarship 2013-2016

• Travel Grant, TUM Graduate School 2016

• Swiss National Foundation 2011-2012

Research interest

Mohsen is interested in designing methods to tackle key challenges for active tactile object perception and learning in robotics via multi-modal artificial robotics skin. His research mainly is focused on developing probabilistic active pre-touch and touch-based framework to enable the robotic systems to explore their unknown environment, localize objects, learn about objects via their physical properties (such as surface textures, center of mass, stiffness, thermal conductivity, and etc), re-use their prior tactile knowledge while learning new objects (Active Tactile Transfer Learning), and to safely manipulate deformable objects with dynamic center of mass. • Active tactile exploration and learning • Active tactile transfer learning • Tactile human robot interaction • Tactile-based Manipulation • Sensor Fusion • Tactile SLAM




  • Kunpeng Yao, Mohsen Kaboli, and Gordon Cheng: Tactile-based Object Center of Mass Exploration and Discrimination. IEEE International Conference on Humanoid Robots (Humanoids), 2017 more… BibTeX Full text (mediaTUM)
  • Mohsen Kaboli, Di Feng, Gordon Cheng: Active Tactile Transfer Learning for Object Discrimination in an Unstructured Environment using Multimodal Robotic Skin. International Journal of Humanoid Robotics (IJHR), 2017 more… BibTeX Full text (mediaTUM)
  • Mohsen Kaboli, Di Feng, Kunpeng Yao, Pablo Lanillos, Gordon Cheng: A Tactile-based Framework for Active Object Learning and Discrimination using Multi-modal Robotic Skin. IEEE Robotics and Automation Letters 2 (4), 2017, 2143-2150 more… BibTeX Full text (mediaTUM)


  • Mohsen Kaboli, Kunpeng Yao, and Gordon Cheng: Tactile-based Manipulation of Deformable Objects with Dynamic Center of Mass. IEEE-RAS International Conference on Humanoid Robots 2016, 2016 more… BibTeX Full text (mediaTUM)
  • Mohsen Kaboli, Rich Walker, and Gordon Cheng: Re-using Prior Tactile Experience by Robotic Hands to Discriminate In-Hand Objects via Texture Properties. IEEE International Conference on Robotics and Automation (ICRA 2016), 2016 more… BibTeX Full text (mediaTUM)


  • Mohsen Kaboli and Gordon Cheng: Dexterous Hands Learn To Re-Use The Past Experience To Discriminate In-Hand Objects From The Surface Texture. 33rd Annual Conference of the Robotics Society of Japan (RSJ 2015), 2015 more… BibTeX Full text (mediaTUM)
  • Mohsen Kaboli, Alex Long, Gordon Cheng: Humanoids Learn Touch Modalities Identification via Multi-Modal Robotic Skin and Robust Tactile Descriptors. Advanced Robotics , 2015 more… BibTeX Full text (mediaTUM)
  • Mohsen Kaboli, Armando De La Rosa T, Rich Walker, and Gordon Cheng: In-Hand Object Recognition via Texture Properties with Robotic Hands, Artificial Skin, and Novel Tactile Descriptors. IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015 more… BibTeX Full text (mediaTUM)
  • Nivasan Yogeswaran, Wenting Dang, William Navaraj, Dhayalan Shakthivel, Saleem Khan, Emre Polat, Shoubhik Gupta, Hadi Heidari, Mohsen Kaboli, Leandro Lorenzelli, Gordon Cheng, Ravinder Dahiya: New Materials and Advances in Making Electronic Skin for Interactive Robots. Advanced Robotics , 2015 more… BibTeX Full text (mediaTUM)


  • Mohsen Kaboli, Philipp Mittendorfer, Vincent Hugel and Gordon Cheng: Humanoids Learn Object Properties From Robust Tactile Feature Descriptors vai Multi-Modal Artificial Skin. IEEE-RAS International Conference on Humanoid Robots, 2014 more… BibTeX Full text (mediaTUM)