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2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)
We demonstrate that data-driven methods can be used to rapidly categorize objects encountered through incidental contact on a robot arm. Allowing incidental contact with surrounding objects has benefits during manipulation such as increasing the workspace during reaching tasks. The information obtained from such contact, if available online, can potentially be used to map the environment and help in manipulation tasks. In this paper, we address this problem of online categorization usingdoi:10.1109/humanoids.2013.7029979 fatcat:usyi5frcbzejrjbuln2e6v5zpy