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Download fileReconstructing Shape from Motion Using Tactile Sensors
journal contribution
posted on 2001-01-01, 00:00 authored by Mark Moll, Michael A. ErdmannWe 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.