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ICRA
2002
IEEE

Dynamic Shape Reconstruction using Tactile Sensors

9 years 6 months ago
Dynamic Shape Reconstruction using Tactile Sensors
—We present new results on reconstruction of the shape and motion of an unknown object using tactile sensors without requiring objectimmobilization. Arobotmanipulatestheobjectwithtwoflatpalms covered with tactile sensors. We model the full dynamics and prove local observability of the shape, motion and center of mass of the object based on the motion of the contact points as measured by the tactile sensors. Keywords— tactile sensing, manipulation, shape reconstruction, observability
Mark Moll, Michael Erdmann
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Mark Moll, Michael Erdmann
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