List of Publications


Lindberg, M., Månsson, K., Johansson, B, Gulz, A. & Balkenius, C. (2017). Does a robot tutee increase engagement in a learning-by-teaching situation? Proceedings of IVA 2017.

Lindberg, M. Sandberg, H., Eriksson, M. Johansson, B. & Balkenius, C. (2017). The Expression of Mental States in a Humanoid Robot. Proceedings of IVA 2017.

Johansson, B. and Balkenius, C. (2017). A Computational Model of Pupil Dilation. Connections Science, doi:10.1080/09540091.2016.1271401.


Brinck, I., Balkenius, C., and Johansson, B. (2016). Making Place for Social Norms in the Design of Human-Robot Interaction. In Seibt, J., Nørskov, M., Schack Andersen, S. (Eds) What Social Robots Can and Should Do. Frontiers in Artificial Intelligence and Applications, 290. IOS Press

Balkenius, C., Cañamero, L., Pärnamets, P., Johansson, B., Butz, M. V., and Olsson, A. (2016). Outline of a Sensory – Motor Perspective on Intrinsically Moral Agents. Adaptive Behavior, 1-14. DOI: 10.1177/1059712316667203

Johansson, B. and Balkenius, C. (2016) Building the Builder Robot. LUCS Minor, 16.


Balkenius, C. and Johansson, B. (2015). Developing flexible skills (abstract), in Billing, E., Lindblom, J. and Ziemke, T. (Eds) Proceedings of the 2015 SweCog Conference, 2015.




Balkenius, C. and Johansson, B. (2012). Attention modulation in hierarchical self-organizing convolution networks (abstract). Deep Hierarchies in Vision. Vienna 2012.

Balkenius, C. and Johansson, B. (2012). Adaptation and anticipation: Learning from experience. In Seel, N. M. (Ed.) Encyclopedia of the Sciences of Learning (pp. 92-94), New York: Springer-Verlag.



Johansson, B., Sahin E. and Balkenius, C., (2010). Proceedings of the tenth International Conference on Epigenetic Robotics, Lund University Cognitive Studies, 149. ISBN: 978-91-977380-9-5.

Balkenius, C., Morén, J., Johansson, B. and Johnsson, M. (2010). “Ikaros: Building Cognitive Models for Robots” in Advanced Engineering Informatics. doi: 10.1016/j.aei.2009.08.003.

Bååth, R., Johansson, B. (2010). “Making a map-making robot: Using the IKAROS System to Implement the Occupancy Grid Algorithm” in the proceedings of the Swedish Artificial Intelligence Society Workshop 2010.

Johansson, B. and Balkenius, C. (2010). “The Indiana Experiment: Investigating the Role of Anticipation and Attention in a Dynamic Environment” in the Proceedings of the 11th international conference on Simulation of adaptive behavior: from animals to animats (SAB'10), Springer-Verlag, Berlin, Heidelberg, 242-251.


Johansson, B. (2009), "Anticipation and Attention in Robot Control", PhD dissertation, Lund University Cognitive Studies, 142.


Pezzulo, G., Butz, M. V., Castelfranchi, C., Falcone, R., Baldassarre, G., Balkenius, C., Föorster, A., Grinberg, M., Herbort, O., Kiryazov, K., Kokinov, B., Johansson, B., Lalev, E., Lorini, E., Martinho, C., Miceli, M., Ognibene, D., Paiva, A., Petkov, G., Piunti, P. and Thorsteinsdottir. V. (2008). "Endowing Artificial Systems with Anticipatory Capabilities: Success Cases", Pezzulo, G., Butz, M. V., Castelfranchi, C., and Falcone, R. The Challenge of Anticipation (pp. 237–254). LNAI, 5225. Berlin: Springer. ISBN: 978-3-540-87701-1.

Johansson, B. and Balkenius, C. (2008). “Prediction Time in Anticipatory System”  in the Proceedings of ABiALS '08 (4 pages).

Johansson, B. and Balkenius, C. (2008). Learning to Anticipate the Movements of Intermittently Occluded Objects. In Schlesinger, M., Berthouze, L. and Balkenius, C. Proceedings of the Eighth International Conference on Epigenetic Robotics (pp. 53-60), Lund University Cognitive Studies, 139.

Balkenius, C.Johnsson, M. and Johansson, B. (2008). "Understanding Cognition by Building Robots", Gärdenfors, P. & Wallin, A. (Eds), A Smorgasbord of Cognitive Science (pp. 99-112). Dya Doxa. ISBN: 978-91-578-0532-4.


Balkenius, C. and Johansson, B. (2007). “Anticipatory Models in Gaze Control: A Developmental Model” in Cognitive Processing, 8, 167–174. doi:10.1007/s10339-007-0169-8.

Johansson, B. and Balkenius, C. (2007). "An experimental study of anticipation in simple robot navigation". Butz, M. et al. (Eds), Anticipatory behavior in adaptive learning systems: From brains to individual and social behavior (pp. 365–378). Lecture Notes in Computer Science, 4520. Berlin: Springer-Verlag. [doi: 10.1007/978-3-540-74262-3]. ISBN 978-3-540-74261-6.

Balkenius, C., Morén, J. and Johansson, B. (2007). System-level cognitive modeling with Ikaros. Lund University Cognitive Studies, 133. Lund: LUCS.

Balkenius, C. and Johansson, B. (2007). Finding Colored Objects in a Scene. LUCS Minor, 12. Lund: LUCS.

Johansson, B. and Balkenius, C. (2007). A Multi-Robot System for Anticipatory Experiments, LUCS Minor, 11. Lund: LUCS.


Johansson, B. and Balkenius, C. (2006). The benefits of anticipation: an experimental study. In Butz, M., Sigaud, O., Pezzulo, G., and Baldassarre, G. (Eds), Proceedings of third workshop on anticipatory behavior in adaptive learning systems (ABiALS) (12 pages). Rome.

Balkenius, C. and Johansson, B. (2006). A developmental approach to dynamic scene understanding. Proceedings of the Sixth International Conference on Epigenetic Robotics (p. 165). Lund University Cognitive Studies, 128.


Björne, P., Johansson, B. and Balkenius, C. (2005). “Effects of Early Sensorimotor Disorder on Contextual Learning in Autism” in European Review of Applied Psychology, 56, 247-252.

Johansson, B. and Balkenius, C. (2005). Robots with Anticipation and Attention, Funk, P. , Rognvaldsson, T., and Xiong, N. (Eds), Advances in Artificial Intelligence in Sweden (pp. 202-204). Västerås, Sweden: Mälardalen University.

Balkenius, C. and Johansson, B. (2005). Event Prediction and Object Motion Estimation in the Development of Visual Attention.  In Berthouze, L., Kaplan, F., Kozima, H., Yano, Y., Konczak, J., Metta, G., Nadel, J., Sandini, G., Stojanov, G., and Balkenius, C. (2005). Proceedings of the Fifth International Workshop on Epigenetic Robotics: Modeling Cognitive Development in Robotic Systems (pp. 17–22). Lund University Cognitive Studies, 123. Lund: LUCS. ISBN 91-974741-4-2.

Johansson, B. and Balkenius, C. (2005). It's a Child's Game: Investigating Cognitive Development with Playing Robots. Proceedings of the International Conference on Development and Learning (ICDL) (p. 164). Osaka, Japan.


Johansson, B. (2004). Elastic template matching in outdoor environments. Master’s thesis, Lund Univeristy Cognitive Science, Lund.

Publicly available computer programs

Ikaros: I have been a member of the leading group of the Ikaros development since 2004. Ikaros is an infrastructure for system level brain models and robot control. It was initiated by Christian Balkenius and Jan Morén in early 2001 and now represents contributions from more than 25 people around the world. As of 2008-05-26, it had been downloaded 1700 times and cited in over 35 scientific publications. The complete system as well as full documentation is available at

Conference presentations

Presentation and discussion of current research with the Stanford Robot group, 2009, Stanford, USA

Presentation of the paper “Prediction Time in Anticipatory System”, 2008, ABiALS, Munich, Germany.

Presentation of the paper “Learning to Anticipate the Movements of Intermittently Occluded Objects”, 2008, EpiRob, Brighton, United Kingdom.

Presentation of the paper “An Experimental Study of Anticipation in Simple Robot Navigation”, 2007, ABiALS, Rome, Italy.

Popular-scientific articles/presentations

Short presentation and demonstration at the Official Launch of the Centre for Quantum Computation and Intelligent Systems (QCIS) for visitors, including Professor Mary O'Kane, NSW Chief Scientist and Scientific Engineer.

Presentation and robot demonstration at UTS Information Day. The purpose of the UTS Information Day is to introduce new students to the research conducted at the University of Technology, Sydney, Australia.

Presentation and robot demonstration at the U@UTS Day. The purpose of U@UTS Day is to give students an insight into university life, and encourage them to consider university education as a viable option after completion of Year 12. 2009, Sydney, Australia.

Public robot demonstration at the Power House Museum, Australia's largest and very popular museum, with a unique and diverse collection of 385,000 objects spanning history, science, technology, design, industry, decorative arts, music, transport and space exploration. 2009, Sydney, Australia.

Public dissertation defense, 2009, Title "Anticipation and Attention in Robot Control", Kungshuset, Lundgård, Sweden.

Yearly presentations and demonstrations for new students, 2006-2009, Lund, Sweden.

Article about my research in local news paper "Lokaltidningen", 2006, Lund, Sweden.