Before revision:  To deal with the (typically unknown) mechanical properties of the object, we use an online algorithm that approximates the sensorimotor mapping between the robot's configuration and the object's shape features . Our new approach has the capability to compute the rod's centerline from raw visual data in real-time ;
After revision:  To deal with the (typically unknown) mechanical properties of the object, we use an online algorithm that approximates the sensorimotor mapping between the robot's configuration and the object's shape features is used to deal with the latter's (typically unknown) mechanical properties. The proposed approach computes the rod's centerline from raw visual data in real-time ;