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0:00:00 Start

0:00:05 Adaptive Haptic Perception = Haptic Exploration

0:02:35 Tactile exploration of a sponge using ARMAR-IIIb

0:04:37 Motivation

0:07:14 What is Haptics?

0:09:47 Haptic Perception

0:11:25 Haptic exploration can only be active

0:13:39 Important questions in haptic perception

0:16:26 Haptic exploration

0:18:21 Potential Field Based Exploration

0:21:15 Exploration using dynamic potential fields

0:25:44 Haptic Exploration with Movemaster

0:27:37 Extracting Grasp Hypotheses

0:30:22 Geometric Filtering and Grasp Computation

0:32:27 Tactile Object Exploration

0:33:34 Combining Vision and Haptics

0:33:54 Examples: Bottle

0:34:30 Visually guided exploration on ARMAR

0:40:06 Combining vision and haptics for grasping

0:45:02 Haptic Exploration for Grasping

0:47:30 Next-Best-Touch for Tactile Exploration

0:50:19 Plan Exploration Actions Efficiently

0:55:12 Next-Best-Touch for Tactile Exploration

0:57:52 Next-Best-Touch

0:58:46 Haptic Exploration for Grasping

1:00:30 How many touches are necessary for grasping?

1:05:24 Exploration and Reconstruction of Unknown Objects using Normal and Contact Sensors

1:08:16 Fundamental question in active hearing

1:09:55 Further research topics