The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

We present a new method to reconstruct the shape of an unknown 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 contact points as measured by tactile sensors. Our analysis is supported by simulation and experimental results.

Keywords

tactile sensing, shape reconstruction, contact kinematics

Notes

Sponsor: NSF

Grant ID: IIS-9820180 and IRI-9503648

Associated Center(s) / Consortia: Center for the Foundations of Robotics

Associated Lab(s) / Group(s): Manipulation Lab

Text Reference

Mark Moll and Michael Erdmann, "Reconstructing Shape from Motion Using Tactile Sensors," Proc. 2001 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, November, 2001.

BibTeX Reference

@inproceedings{Moll_2001_3795,
   author = "Mark Moll and Michael Erdmann",
   title = "Reconstructing Shape from Motion Using Tactile Sensors",
   booktitle = "Proc. 2001 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems",
   month = "November",
   year = "2001",
}

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