Development of Object and Grasping Knowledge by Robot Exploration

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

Research output: Contribution to journalJournal articleResearchpeer-review


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 behaviours 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
JournalIEEE Transactions on Autonomous Mental Development
Issue number4
Pages (from-to)368-383
Publication statusPublished - Dec 2010


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

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