Reconstructing Shape from Motion Using Tactile Sensors - Robotics Institute Carnegie Mellon University

Reconstructing Shape from Motion Using Tactile Sensors

Mark Moll and Michael Erdmann
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 2, pp. 692 - 700, October, 2001

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.

BibTeX

@conference{Moll-2001-8339,
author = {Mark Moll and Michael Erdmann},
title = {Reconstructing Shape from Motion Using Tactile Sensors},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2001},
month = {October},
volume = {2},
pages = {692 - 700},
keywords = {tactile sensing, shape reconstruction, contact kinematics},
}