As an important interdisciplinary concept, body schemas attract more and more attention in the field of robotics. Originating

from developmental psychology and computational neuroscience, body schemas comprise many developmental and adaptive

mechanisms, that have inspired and extended traditional robotics research approaches. Important questions include: How to

develop adaptive kinematics representations that facilitate robot motion planning? How the body schema can be exploited to

interact with unknown environments? In this paper, we will focus on the latter question and propose a controller framework

integrating multi-modal feedback for unknown object exploration.