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Robotic manipulators navigating cluttered shelves or cabinets may find itchallenging to avoid contact with obstacles. Indeed, rearranging obstacles maybe necessary to access a target. Rather than planning explicit motions thatplace obstacles into a desired pose, we suggest allowing incidental contacts torearrange obstacles while monitoring contacts for safety. Bypassing objectidentification, we present a method for categorizing object motions fromtactile data collected from incidental contacts with a capacitive tactile skinon an Allegro Hand. We formalize tactile cues associated with categories ofobject motion, demonstrating that they can determine with $>90$% accuracywhether an object is movable and whether a contact is causing the object toslide stably (safe contact) or tip (unsafe).

Going In Blind: Object Motion Classification using Distributed Tactile Sensing for Safe Reaching in Clutter