Mark Moll :: publications

Reconstructing Shape from Motion Using Tactile Sensors

Mark Moll and Michael A. Erdmann. Reconstructing Shape from Motion Using Tactile Sensors. In Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 691–700, Maui, HI, October/November 2001.

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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.

BibTeX Entry

@InProceedings{moll-erdmann2001:recon-shape-motion-using,
  author =	 "Mark Moll and Michael A. Erdmann",
  title =	 "Reconstructing Shape from Motion Using Tactile Sensors",
  pages =	 "691--700",
  booktitle =	 IROS-01,
  year =	 2001,
  address =	 "Maui, HI",
  month =	 "October/November",
  keywords =	 "tactile sensing, shape reconstruction, contact kinematics",
  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.",
}