Development of object and grasping knowledge by robot exploration

Dirk Kraft, Renaud Detry, Nicolas Pugeault, Emre Baseski, Frank Guerin, Justus Piater, Norbert Krüger

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21 Citations (Scopus)


We describe a bootstrapping cognitive robot system that-mainly based on pure exploration-acquires rich object representations and associated object-specific grasp affordances. Such bootstrapping becomes possible by combining innate competences and behaviors by which the system gradually enriches its internal representations, and thereby develops an increasingly mature interpretation of the world and its ability to act within it. We compare the system's prior competences and developmental progress with human innate competences and developmental stages of infants.
Original languageEnglish
Pages (from-to)368-383
Number of pages16
JournalIEEE Transactions on Autonomous Mental Development
Issue number4
Early online date26 Aug 2010
Publication statusPublished - Dec 2010


  • active exploration of environment
  • hardware platform for development
  • robots with development and learning skills
  • using robots to study development and learning

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    Kraft, D., Detry, R., Pugeault, N., Baseski, E., Guerin, F., Piater, J., & Krüger, N. (2010). Development of object and grasping knowledge by robot exploration. IEEE Transactions on Autonomous Mental Development, 2(4), 368-383.