Towards contour following exploration based on tactile sensing with the iCub fingertip

The exploration and interaction with the environment is a required feature of future robotic systems that could behave more flexibly and autonomously in unstructured situations. Modern robots can be equipped with various types of tactile sensors, which provide them with the capability to interact and learn from the environment through active tactile sensing [1]. This is inspired in the way humans and animals interact with the environment in an active, purposive manner. Humans use different exploratory procedures (EP) to extract features and perform object recognition (e.g. tapping, sliding) using the hands and fingertips [2]. In animals this exploration can be achieved with other types of tactile sensor – for instance, the whiskers used by rats and seals.