Mark Moll :: publications

Dynamic Shape Reconstruction Using Tactile Sensors

Mark Moll and Michael A. Erdmann. Dynamic Shape Reconstruction Using Tactile Sensors. In Proceedings of the 2002 IEEE International Conference on Robotics and Automation, pp. 1636–1641, 2002.

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Abstract

We present new results on reconstruction of the shape and motion of an unknown object using tactile sensors without requiring object immobilization. A robot manipulates the object with two flat palms 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.

BibTeX Entry

@InProceedings{moll-erdmann2002:dynam-shape-recon-using,
  author =	 "Mark Moll and Michael A. Erdmann",
  title =	 "Dynamic Shape Reconstruction Using Tactile Sensors",
  pages =	 "1636--1641",
  booktitle =	 ICRA-02,
  year =	 2002,
  keywords =	 "shape reconstruction, tactile sensing, observability",
  abstract =	 "We present new results on reconstruction of the shape and
                  motion of an unknown object using tactile sensors without
                  requiring object immobilization. A robot manipulates the
                  object with two flat palms 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.",
}