Reconstructing Shape from Motion Using Tactile Sensors
journal contributionposted on 01.01.2001 by Mark Moll, Michael A. Erdmann
Any type of content formally published in an academic journal, usually following a peer-review process.
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.