Assessing Humanoid Multimodal Grasping Towards Object Recognition

Alexandros Giagkos, Raphael Braud, Patricia Shaw, Mark Lee, Qiang Shen

Research output: Contribution to conferenceAbstractpeer-review


In this paper we present the outcome of a reflex-based humanoid grasping behaviour and assess its capacity to be used towards object recognition through acquiring multimodal information. Sensory data collected during the grasping activity of the iCub's hand is used to assess the relevance of proprioception and tactile information in building object representations that can be used to ultimately distinguish between objects. Results show that proprioception coupled with the proposed grasping patterns construction is most reliable as compared to tactile information. Hence, the work highlights the importance of improving the reliability of the tactile modality.
Original languageEnglish
Number of pages2
Publication statusAccepted/In press - Jul 2017
Event2nd Robot Manipulation Workshop - Imperial College London, London, United Kingdom of Great Britain and Northern Ireland
Duration: 10 Jul 201711 Jul 2017


Workshop2nd Robot Manipulation Workshop
Country/TerritoryUnited Kingdom of Great Britain and Northern Ireland
Period10 Jul 201711 Jul 2017
Internet address


  • Robotic grasping
  • multimodal
  • object recognition


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