The paper is here in pdf.
I'm a computational linguist, but got into simulating neurons to deal with semantics.
There are a lot of robotics guys at Middlesex, and they kept saying they'd like to use my neurons to control robots. I kept saying, well bring one by, but they never did.
Franco and Giuseppe, computational theoreticians, were putting a robot together to teach first years (Freshmen). I asked them if I could have one and they said yes.
They even gave me some support.
So, we did it, and wrote this paper.