Selected publications

This list currently mainly contains journal publications. For copies send me an email. Many recent ones are open access and available via my Google Scholar, ORCID, or Loop profiles.


de Graaf M, Dragan A, Malle B & Ziemke T (2021). Introduction to the Special Issue on Explainable Robotic Systems. ACM Transactions on Human-Robot Interaction, 10(3), 22. (OPEN ACCESS)

Thellman S & Ziemke T (2021). The Perceptual Belief Problem: Why Explainability Is a Tough Challenge in Social Robotics. ACM Transactions on Human-Robot Interaction, 10(3), 29. (OPEN ACCESS)

Thunberg S & Ziemke T (2021). User-Centered Design of Humanoid Robots’ Communication. Paladyn – Journal of Behavioral Robotics, 12(1), 58-73.     (OPEN ACCESS)


Ziemke T (2020). Understanding Robots. Science Robotics, 5(46), eabe2987.    (FREE ACCESS)

Thellman S & Ziemke T (2020). Do You See what I See? Tracking the Perceptual Beliefs of Robots. iScience, 23, 101625.     (OPEN ACCESS)

Thunberg S, Rönnqvist L & Ziemke T (2020). Do Robot Pets Decrease Agitation in Dementia Patients?. In: Wagner et al. (eds) Social Robotics. ICSR 2020. LNCS 12483. Springer, Cham.

Billing E, Belpaeme T, … & Ziemke T. (2020). The DREAM Dataset: Supporting a data-driven study of autism spectrum disorder and robot enhanced therapy. PLoS ONE, 15(8), e0236939.     (OPEN ACCESS)


Cao HL, Esteban PG, Bartlett M, Baxter P, Belpaeme T, Billing E, Cai H, Coeckelbergh M, Costescu C, David D, De Beir A, Hernandez D, Kennedy J, Liu H, Matu S, Mazel A, Pandey A, Richardson K, Senft E, Thill S, van de Perre G, Vanderborght B, Vernon D, Wakanuma K, Yu H; Zhou X & Ziemke T (2019). Robot-Enhanced Therapy: Development and Validation of Supervised Autonomous Robotic System for Autism Spectrum Disorders Therapy. IEEE Robotics & Automation Magazine, 26(2), 49-58.


Richardson K, Coeckelbergh M, Wakunuma K, Billing E, Ziemke T, Gómez P,
Vanderborght B & Belpaeme T (2018). Robot Enhanced Therapy for Children with Autism (DREAM): A Social Model of Autism. IEEE Technology & Society Magazine, 37(1), 30-39.

Cai H, Fang Y, Ju Z, Costescu C, David D, Billing E, Ziemke T, Thill S, Belpaeme T, Vanderborght B, Vernon D, Richardson K & Liu H (2018). Sensing-enhanced therapy system for assessing children with autism spectrum disorders: a feasibility study. IEEE Sensors, 19, 4, 1508-1518.


Esteban PG, Baxter P, Belpaeme T, Billing E, Cai H, Cao HL, Coeckelbergh M,Costescu C, David D, De Beir A, Kennedy J, Liu H, Mazel A, Pandey A, Richardson K, Senft E, Thill S,Van de Perre G, Vanderborght B, Vernon D, Yu H & Ziemke T (2017). How to build a supervised autonomous system for robot-enhanced therapy for children with autism spectrum disorder. Paladyn – Journal of Behavioral Robotics, 8(1), 18-38.     (OPEN ACCESS)

Thellman S, Silvervarg A, & Ziemke T (2017). Folk-psychological interpretation of human vs. humanoid robot behavior: exploring the intentional stance toward robots. Frontiers in Psychology, 8, 1962.     (OPEN ACCESS)


Ziemke T (2016). The body of knowledge: On the role of the living body in grounding embodied cognition. BioSystems, 148, 4-11.     (OPEN ACCESS)

Sakreida K, Effnert I, Thill S, Menz M, Jirak D, Eickhoff C, Ziemke T, Eickhoff S., Borghi A & Binkofski F (2016). Affordance processing in segregated parieto-frontal dorsal stream sub-pathways. Neuroscience & Biobehavioral Reviews, 69, 89–112.

Billing E, Svensson H, Lowe R & Ziemke T (2016). Finding Your Way from the Bed to the Kitchen: Re-enacting and Re-combining Sensorimotor Episodes Learned from Human Demonstration. Frontiers in Robotics and AI, 3:9.     (OPEN ACCESS)


Vernon D, Lowe R, Thill S & Ziemke T (2015). Embodied cognition and circular causality: on the role of constitutive autonomy in the reciprocal coupling of perception and action. Frontiers in Psychology, 6, 1660.   (open access)

Vernon D, Billing E, Hemeren P, Thill S & Ziemke T (2015). An Architecture-oriented Approach to System Integration in Collaborative Robotics Research Projects — An Experience Report. Journal of Software Engineering in Robotics, 6(1), 15-32.   (open access)


Li C, Lowe R & Ziemke T (2014). A novel approach to locomotion learning: Actor-Critic architecture using central pattern generators and dynamic motor primitives. Frontiers in Neurorobotics, 8:23. doi: 10.3389/fnbot.2014.00023.   (open access)

Thill S, Padó S & Ziemke T (2014). On the importance of a rich embodiment in the grounding of concepts: perspectives from embodied cognitive science and computational linguistics. Topics in Cognitive Science, 6 (3), 545-558.

Ekanayake H, Backlund P, Ziemke T, Ramberg R and Hewagamage K (2014). Comparing Expert and Novice Driving Behaviour in a Driving Simulator. Interaction Design & Architecture, 01/2014: 19.


Riegler A, Stewart J & Ziemke T (2013). Computation, Cognition and Constructivism. Constructivist Foundations, 9(1): 1–6.

Montebelli A, Lowe R & Ziemke T (2013). Towards metabolic robotics: insights from modeling embodied cognition in a bio-mechatronic symbiont. Artificial Life, 19(3-4):299–315, 2013.

Ekanayake H, Fors U, Ramberg R, Ziemke T, Backlund P, Hewagamage K (2013). Affective Realism of Animated Films in the Development of Simulation-Based Tutoring Systems. International Journal of Distance Education Technologies, 11(2), 96-109. DOI:10.4018/jdet.2013040105.

Thill S, Caligiore D, Borghi AM, Ziemke T & Baldassarre G (2013). Theories and computational models of affordance and mirror systems: an integrative review. Neuroscience & Biobehavioral Reviews. 37(3), 491-521.     (OPEN ACCESS)

Li C, Lowe R & Ziemke T (2013). Humanoids learning to walk: a natural CPG-actor-critic architecture. Frontiers in Neurorobotics, 7(5), doi: 10.3389/fnbot.2013.00005.   (open access)

Ekanayake H, Backlund P, Ziemke T, Ramberg R, Hewagamage K & Lebram M (2013). Comparing Expert Driving Behavior in Real World and Simulator Contexts. International Journal of Computer Games Technology, article ID 891431, DOI:10.1155/2013/891431.

Svensson H, Thill S & Ziemke T (2013). Dreaming of electric sheep? Exploring the functions of dream-like mechanisms in the development of simulations. Adaptive Behavior, 21(4), 222-238.


Thill S, Pop C, Belpaeme T, Ziemke T & Vanderborght B (2012). Robot-assisted Therapy for Autism Spectrum Disorders with (partially) Autonomous Control: Challenges and Outlook. Paladyn – Journal of Behavioral Robotics, DOI: 10.2478/s13230-013-0107-7.

Nilsson M, van Laere J, Susi T & Ziemke T (2012). Information fusion in practice: A distributed cognition perspective on the active role of users. Information Fusion, 13(1), 60-78.


Lowe R & Ziemke T (2011). The feeling of action tendencies: On the emotional regulation of goal-directed behavior. Frontiers in Psychology, 2:346, doi: 10.3389/fpsyg.2011.00346.

Pellicano A, Thill S, Ziemke T and Binkofski F (2011). Affordances, adaptive tool use and grounded cognition. Frontiers in Psychology, 2:53. DOI: 10.3389/fpsyg.2011.00053.

Morse A, Herrera C, Clowes R, Montebelli A & Ziemke T (2011). The role of robotic modeling in cognitive science. New Ideas in Psychology, 29(3), 312-324.


Chersi F, Thill S, Ziemke T & Borghi, AM (2010). Sentence processing: linking language to motor chains. Frontiers in Neurorobotics, 4(4), doi: 10.3389/fnbot.2010.00004.

Lowe R & Ziemke T (2010). Towards a Cognitive Robotics Methodology for Reward-Based Decision Making. Connection Science, 22(3), 247-289.


Ziemke T & Lowe R (2009). On the role of emotion in embodied cognitive architectures: From organisms to robots. Cognitive Computation, 1(1), 104-117.

Froese T & Ziemke T (2009). Enactive artificial intelligence: Investigating the systemic organization of life and mind. Artificial Intelligence, 173, 466-500.

Lowe R, Humphries M & Ziemke T (2009). The dual-route hypothesis: evaluating a neurocomputational model of fear conditioning in rats. Connection Science, 21(1), 15-37.


Ziemke, T (2008). On the role of emotion in biological and robotic autonomy. BioSystems, 91, 401-408.

Montebelli, A, Herrera, C & Ziemke, T (2008). On Cognition as Dynamical Coupling: An analysis of behavioral attractor dynamics. Adaptive Behavior, 16(2-3), 182-195.

Morse & Ziemke (2008). On the role(s) of modelling in cognitive science. Pragmatics & Cognition, 16(1), 37–56.


Ziemke (2007). The Embodied Self – Theories, hunches and robot models. Journal of Consciousness Studies, 14(7), 167–79.

Herrera & Ziemke (2007). Aristotle, autonomy, and the explanation of behaviour.  Pragmatics & Cognition, 15(3), 547-571,

Sørensen & Ziemke (2007). Agents without Agency? Cognitive Semiotics, 0, 102-124.


Ziemke & Lindblom (2006). Some methodological issues in android science. Interaction Studies, 7(4), 339-342.

Lindblom & Ziemke (2006). The Social Body in Motion: Cognitive development in infants and robots. Connection Science, 18(4), 333-346.


Ziemke, Jirenhed & Hesslow (2005). Internal Simulation of Perception. A minimal neurorobotic model. Neurocomputing, 68, 85-104.

Buason, Bergfeldt & Ziemke (2005). Brains, bodies, and beyond: Competitive co-evolution of robot controllers, morphologies, and environments. Genetic Programming and Evolvable Machines, 6(1), 25-51.

Susi & Ziemke (2005). On the Subject of Objects: Four Views on Object Perception and Tool Use. Triple C: Cognition, Communication, Co-operation, 3(2), 6-19.

Ziemke (2005). Cybernetics and Embodied Cognition: On the Construction of Realities in Organisms and Robots. Kybernetes, 34(1/2), 118-128.


Ziemke, Bergfeldt, Buason, Susi, & Svensson (2004). Evolving Cognitive Scaffolding and Environment Adaptation: A New Research Direction for Evolutionary Robotics. Connection Science, 16(4), 339-350.


Ziemke (2003). On the Role of Robot Simulations in Embodied Cognitive Science. AISB Journal, 1(4), 389-399.

Lindblom & Ziemke (2003). Social Situatedness of Natural and Artificial Intelligence: Vygotsky and Beyond. Adaptive Behavior, 11(2), 79-96.

Jacobsson & Ziemke (2003). Improving Procedures for Evaluation of Connectionist Context-Free Language Predictors. IEEE Transactions on Neural Networks, 14(4), 963-966.

Ziemke (2003). Robosemiotics and embodied enactive cognition. SEED – Semiotics, Evolution, Energy, and Development, 3(3), 112-124.


Ziemke & Thieme (2002). Neuromodulation of Reactive Sensorimotor Mappings as a Memory Mechanism in Delayed Response Tasks. Adaptive Behavior, 10(3/4), 185-199.

Ziemke (2002). On the Epigenesis of Meaning in Robots and Organisms. Sign Systems Studies, 30(1), 101-111.


Susi & Ziemke (2001). Social Cognition, Artefacts, and Stigmergy: A Comparative Analysis of Theoretical Frameworks for the Understanding of Artefact-mediated Collaborative Activity. Cognitive Systems Research, 2(4), 273-290.

Sharkey & Ziemke (2001). Mechanistic vs. Phenomenal Embodiment: Can Robot Embodiment Lead to Strong AI?. Cognitive Systems Research, 2(4), 251-262.

Ziemke (2001). The Construction of ‘Reality’ in the Robot: Constructivist Perspectives on Situated AI and Adaptive Robotics. Foundations of Science, 6(1), 163-233.

Ziemke & Sharkey (2001). A stroll through the worlds of robots and animals: Applying Jakob von Uexküll’s theory of meaning to adaptive robots and artificial life. Semiotica, 134(1-4), 701-746.

2000 and earlier

Savage & Ziemke (2000). Learning and Unlearning Mechanisms in Animats and Animals. Adaptive Behavior, 8(2), 93-124.

Sharkey & Ziemke (1998). A consideration of the biological and psychological foundations of autonomous robotics. Connection Science, 10(3-4), 361-391.

Ziemke (1998). Adaptive behavior in autonomous agents. Presence, 7(6), 564-587.

Ziemke (1997). Radar image segmentation using self-adapting recurrent networks. International Journal of Neural Systems, 8 (1), 47-54.

Ziemke (1996). Radar image segmentation using recurrent artificial neural networks. Pattern Recognition Letters, 17(4), 319-334.