Reconstructing Shape from Motion Using Tactile Sensors

2001-01-01T00:00:00Z (GMT) by Mark Moll Michael A. Erdmann
We present a new method to reconstruct the shape of an un- known object using tactile sensors without requiring object immobilization. Instead, the robot manipulates the object without prehension. The robot infers the shape, motion and center of mass of the object based on the motion of the con- tact points as measured by tactile sensors. Our analysis is supported by simulation and experimental results.



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