--- abstract: |- 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. altloc: - http://asip.lucs.lu.se/ftp/pub/LUCS_Studies/LUCS123/torres-jara.pdf - http://asip.lucs.lu.se/ftp/pub/LUCS_Studies/LUCS123/epirob05d.pdf chapter: ~ commentary: ~ commref: ~ confdates: 'July 22-24, 2005' conference: 'Fifth International Workshop on Epigenetic Robotics: Modeling Cognitive Development in Robotic Systems' confloc: 'Nara, Japan' contact_email: ~ creators_id: [] creators_name: - family: Torres-Jara given: Eduardo honourific: '' lineage: '' - family: Natale given: Lorenzo honourific: '' lineage: '' - family: Fitzpatrick given: Paul honourific: '' lineage: '' date: 2005 date_type: published datestamp: 2006-07-23 department: ~ dir: disk0/00/00/49/68 edit_lock_since: ~ edit_lock_until: ~ edit_lock_user: ~ editors_id: [] editors_name: - family: Berthouze given: Luc honourific: '' lineage: '' - family: Kaplan given: Frédéric honourific: '' lineage: '' - family: Kozima given: Hideki honourific: '' lineage: '' - family: Yano given: Hiroyuki honourific: '' lineage: '' - family: Konczak given: Jürgen honourific: '' lineage: '' - family: Metta given: Giorgio honourific: '' lineage: '' - family: Nadel given: Jacqueline honourific: '' lineage: '' - family: Sandini given: Giulio honourific: '' lineage: '' - family: Stojanov given: Georgi honourific: '' lineage: '' - family: Balkenius given: Christian honourific: '' lineage: '' eprint_status: archive eprintid: 4968 fileinfo: /style/images/fileicons/application_pdf.png;/4968/1/torres%2Djara.pdf full_text_status: public importid: ~ institution: ~ isbn: ~ ispublished: pub issn: ~ item_issues_comment: [] item_issues_count: 0 item_issues_description: [] item_issues_id: [] item_issues_reported_by: [] item_issues_resolved_by: [] item_issues_status: [] item_issues_timestamp: [] item_issues_type: [] keywords: 'exploratory procedures, Obrero humanoid robot, sensitive manipulation, haptic exploration, object recognition' lastmod: 2011-03-11 08:56:29 latitude: ~ longitude: ~ metadata_visibility: show note: ~ number: ~ pagerange: 79-86 pubdom: FALSE publication: ~ publisher: Lund University Cognitive Studies refereed: TRUE referencetext: ~ relation_type: [] relation_uri: [] reportno: ~ rev_number: 12 series: ~ source: ~ status_changed: 2007-09-12 17:05:33 subjects: - comp-sci-mach-learn - comp-sci-robot succeeds: ~ suggestions: ~ sword_depositor: ~ sword_slug: ~ thesistype: ~ title: Tapping into Touch type: confpaper userid: 3507 volume: 123