Task-Driven Tactile Exploration

@inproceedings{Hsiao2010TaskDrivenTE,
  title={Task-Driven Tactile Exploration},
  author={Kaijen Hsiao and Leslie Pack Kaelbling and Tom{\'a}s Lozano-P{\'e}rez},
  booktitle={Robotics: Science and Systems},
  year={2010}
}
This paper presents a decision-theoretic approach to problems that require accurate placement of a robot relative to an object in the world, including grasping and insertion. The decision process is applied to a robot hand with tactile sensors, to localize the object and ultimately achieve a target placement by selecting among grasping and information-gathering trajectories. The process is demonstrated in simulation and on a real robot. 
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