creators_name: Torres-Jara, Eduardo creators_name: Natale, Lorenzo creators_name: Fitzpatrick, Paul editors_name: Berthouze, Luc editors_name: Kaplan, Frédéric editors_name: Kozima, Hideki editors_name: Yano, Hiroyuki editors_name: Konczak, Jürgen editors_name: Metta, Giorgio editors_name: Nadel, Jacqueline editors_name: Sandini, Giulio editors_name: Stojanov, Georgi editors_name: Balkenius, Christian type: confpaper datestamp: 2006-07-23 lastmod: 2011-03-11 08:56:29 metadata_visibility: show title: Tapping into Touch ispublished: pub subjects: comp-sci-mach-learn subjects: comp-sci-robot full_text_status: public keywords: exploratory procedures, Obrero humanoid robot, sensitive manipulation, haptic exploration, object recognition 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. date: 2005 date_type: published volume: 123 publisher: Lund University Cognitive Studies pagerange: 79-86 refereed: TRUE citation: Torres-Jara, Eduardo and Natale, Lorenzo and Fitzpatrick, Paul (2005) Tapping into Touch. [Conference Paper] document_url: http://cogprints.org/4968/1/torres-jara.pdf