---
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
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