TY - GEN ID - cogprints4968 UR - http://cogprints.org/4968/ A1 - Torres-Jara, Eduardo A1 - Natale, Lorenzo A1 - Fitzpatrick, Paul Y1 - 2005/// N2 - 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. PB - Lund University Cognitive Studies KW - exploratory procedures KW - Obrero humanoid robot KW - sensitive manipulation KW - haptic exploration KW - object recognition TI - Tapping into Touch SP - 79 AV - public EP - 86 ER -