Robotic manipulation involving contact-rich tasks continues to be a challenging, yet critically important, research problem with many potential applications, including domestic assistance, automated agriculture, and advanced manufacturing. Many of these tasks involve both unstructured environments and complicated dexterous manipulation. Existing approaches that rely on purely visual sensors and predefined models are brittle and prone to failure. This research project will investigate how tactile sensing can provide a sense of touch to robot manipulators so that they can handle more difficult tasks.