Exploration with a robotic hand is a method for measuring the shape and location of objects. This information may be used to recognize the object from a given set, or to generate a model of the object. A novel two-dimensional exploration method employing multiple wrapping grasps without tactile sensors is presented. An object shape model is produced from the finger position information. An efficient procedure for recognizing the object from a given reference set is presented. Experiments are conducted with a two-fingered robotic hand with five degrees-of-freedom. Objects with circular, square and triangular cross-sections are explored, modeled and recognized using as few as six grasps.