The number and variety of sensors and actuators that A.s.a. H. Has available to it* have proven sufficient for symbol grounding** and concept formation but the present robots are best described as clumsy. We would need to deploy a larger number of sensors and actuators to address this issue.
* See, for example, my blog of 1 Oct. 2015. (note: During any given activity/experiment A.s.a. typically only makes use of a fraction of its sensors.)
** A major portion of my robotics laboratory might best be called an instrumentation lab.