%A Eduardo Torres-Jara
%A Lorenzo Natale
%A Paul Fitzpatrick
%T Tapping into Touch
%X Humans use a set of exploratory procedures
to examine object properties through grasping
and touch. Our goal is to exploit similar
methods with a humanoid robot to enable developmental
learning about manipulation. We
use a compliant robot hand to find objects
without prior knowledge of their presence or
location, and then tap those objects with a
finger. This behavior lets the robot generate
and collect samples of the contact sound produced
by impact with that object. We demonstrate
the feasibility of recognizing objects by
their sound, and relate this to human performance
under situations analogous to that of
the robot.
%K exploratory procedures, Obrero humanoid robot, sensitive manipulation, haptic exploration, object recognition
%P 79-86
%E Luc Berthouze
%E Fr?d?ric Kaplan
%E Hideki Kozima
%E Hiroyuki Yano
%E J?rgen Konczak
%E Giorgio Metta
%E Jacqueline Nadel
%E Giulio Sandini
%E Georgi Stojanov
%E Christian Balkenius
%V 123
%D 2005
%I Lund University Cognitive Studies
%L cogprints4968

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