Mark Moll :: publications

Shape Reconstruction in a Planar Dynamic Environment

Mark Moll and Michael A. Erdmann. Shape Reconstruction in a Planar Dynamic Environment. Technical Report CMU-CS-01-107, Dept. of Computer Science, Carnegie Mellon University, 2001.

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Abstract

We present a a new method to reconstruct the shape of an unknown object using tactile sensors, without requiring object immobilization. Instead, sensing and nonprehensile manipulation occur simultaneously. The robot infers the shape, motion and center of mass of the object based on the motion of the contact points as measured by the tactile sensors. We present analytic results and simulation results assuming quasistatic dynamics. We prove that the shape and motion are observable in both the quasistatic and the fully dynamic case.

BibTeX Entry

@TechReport{moll-erdmann2001:shape-recon-planar-dynam,
  author =	 "Mark Moll and Michael A. Erdmann",
  title =	 "Shape Reconstruction in a Planar Dynamic Environment",
  institution =	 "Dept. of Computer Science, Carnegie Mellon University",
  year =	 2001,
  number =	 "CMU-CS-01-107",
  keywords =	 "tactile reconstruction, contact kinematics, nonlinear
                  observer theory, tactile sensing",
  abstract =	 "We present a a new method to reconstruct the shape of an
                  unknown object using tactile sensors, without requiring
                  object immobilization. Instead, sensing and nonprehensile
                  manipulation occur simultaneously. The robot infers the
                  shape, motion and center of mass of the object based on
                  the motion of the contact points as measured by the
                  tactile sensors. We present analytic results and
                  simulation results assuming quasistatic dynamics. We prove
                  that the shape and motion are observable in both the
                  quasistatic and the fully dynamic case.",
}