Swingbot: Learning Physical Features from In-Hand Tactile Exploration for Dynamic Swing-Upmanipulation

Physical features of an object from tactile robotic exploration, including by manipulation of the object with an effector having a tactile sensor that provides measurements representative of physical interaction of the effector and the object. This exploration may include performing a predetermined set of manipulations of the object using the effector. Measurements made during the manipulations are used to form a data representation of physical characteristics of the object, and this data representation is used to control further motion of the object.