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

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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.

Sponsor: NSF
Grant ID: IIS-9820180 and IRI-9503648

Associated lab/group: Manipulation Lab

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

@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"
}