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This paper presents some results of an ongoing research project to investigate the components and modules that are necessary to equip a robot with exploratory capabilities. Of particular interest is the recovery of certain material properties from a surface, given minimal a priori information, with the intent to use this information to enable a robot to(More)
This paper presents an overview of ongoing research on surface exploration at the GRASP Lab. We are investigating the necessary components and modules that must be embedded into a robot for it to have the exploratory capabilities required to recover mechanical properties from a surface, given minimal a priori information. Eventually, this information will(More)
Diwali is one of the largest festivals for Hindu religion which falls in the period October-November every year. During the festival days, extensive burning of firecrackers takes place, especially in the evening hours, constituting a significant source of aerosols, black carbon (BC), organics, and trace gases. The widespread use of sparklers was found to be(More)
This paper presents some results of an ongoing research project in the GRASP Lab in the area of active exploration and perception for the legged locomotion of robots. We propose an active perceptual scheme that is based on the ability of the robot to extract material properties from a surface during locomotion. This ability is provided to the robotic system(More)
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