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bibo:abstract "Humans use a set of exploratory procedures\nto examine object properties through grasping\nand touch. Our goal is to exploit similar\nmethods with a humanoid robot to enable developmental\nlearning about manipulation. We\nuse a compliant robot hand to find objects\nwithout prior knowledge of their presence or\nlocation, and then tap those objects with a\nfinger. This behavior lets the robot generate\nand collect samples of the contact sound produced\nby impact with that object. We demonstrate\nthe feasibility of recognizing objects by\ntheir sound, and relate this to human performance\nunder situations analogous to that of\nthe robot."^^xsd:string;
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