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Haptic exploration of unknown objects is of great importance for acquiring multi-modal object representations, which enable a humanoid robot to autonomously execute grasping and manipulation tasks. In this paper we present a tactile exploration strategy to guide an anthropomorphic five-finger hand along the surface of previously unknown objects and build a 3D object representation based on acquired tactile point clouds. The proposed strategy makes use of the dynamic potential field approach suggested in the context of mobile robot navigation. To demonstrate the capabilities of this strategy, we conduct experiments in a detailed physics simulation using a model of the five-finger hand. Exploration results of several test objects are given.

This paper presents the new robotic FRH-4 hand. The FRH-4 hand constitutes a new hybrid concept of an an.thropomorphic five fingered hand and a three jaw robotic gripper. The hand has a humanoid appearance while maintaining the precision of a robotic gripper. Since it is actuated with flexible fluidic actuators, it exhibits an excellent power to weight ratio. These elastic actuators also ensure that the hand is safe for interacting with humans. In order to fully control the joints, it is equipped with position sensors on all of the 11 joints. The hand is also fitted with tactile sensors based on cursor navigation sensor elements, which allows it to have grasping feedback and the ability for exploration.

In this work, we present a new software environment for the comparative evaluation of algorithms for grasping and dexterous manipulation. The key aspect in its development is to provide a tool that allows the reproduction of well-defined experiments in real-life scenarios in every laboratory and, hence, benchmarks that pave the way for objective comparison and competition in the field of grasping. In order to achieve this, experiments are performed on a sound open-source software platform with an extendable structure in order to be able to include a wider range of benchmarks defined by robotics researchers. The environment is integrated into the OpenGRASP toolkit that is built upon the OpenRAVE project and includes grasp-specific extensions and a tool for the creation/integration of new robot models. Currently, benchmarks for grasp and motion planningare included as case studies, as well as a library of domestic everyday objects models, and a real-life scenario that features a humanoid robot acting in a kitchen.