Perception is a basic human ability that provides awareness of the environment and of the person itself in space. Many sensors and strategies have been developed to replicate this feature in autonomous robotic systems, in particular, vision sensors are the ones most used. However, in some scenarios, they are not enough to estimate an unknown object's pose. Therefore this project aims to implement an active haptic exploration based on a force-torque sensor to localize an object for a grasping task. The exploration is accompanied by a particle filter implemented by Johannes Pankert. In order to define the optimal trajectory that the manipulator has to follow, a rough initial visual estimation of the object's position and shape is first generated, based on the point cloud collected from an RGB-D camera.