  In this article, we address the problem of computing adaptive sensorimotor
models that can be used for guiding the motion of robotic systems with
uncertain action-to-perception relations. The formulation of the uncalibrated
sensor-based control problem is first presented, then, various computational
methods for building adaptive sensorimotor models are derived and analysed. The
proposed methodology is exemplified with two cases of study: (i) shape control
of deformable objects with unknown properties, and (ii) soft manipulation of
ultrasonic probes with uncalibrated sensors.
