@misc{cogprints4968,
          volume = {123},
          editor = {Luc Berthouze and Fr{\'e}d{\'e}ric Kaplan and Hideki Kozima and Hiroyuki Yano and J{\"u}rgen Konczak and Giorgio Metta and Jacqueline Nadel and Giulio Sandini and Georgi Stojanov and Christian Balkenius},
           title = {Tapping into Touch},
          author = {Eduardo Torres-Jara and Lorenzo Natale and Paul Fitzpatrick},
       publisher = {Lund University Cognitive Studies},
            year = {2005},
           pages = {79--86},
        keywords = {exploratory procedures, Obrero humanoid robot, sensitive manipulation, haptic exploration, object recognition},
             url = {http://cogprints.org/4968/},
        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.}
}

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