Mark Moll :: publications

Reconstructing the Shape and Motion of Unknown Objects with Active Tactile Sensors

Mark Moll and Michael A. Erdmann. Reconstructing the Shape and Motion of Unknown Objects with Active Tactile Sensors. In Proceedings of the Fifth International Workshop on Algorithmic Foundations of Robotics (WAFR), Springer Verlag, December 2002. To appear

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Abstract

We present a method to simultaneously reconstruct the shape and motion of an unknown smooth convex object. The object is manipulated by planar palms covered with tactile elements. The shape and dynamics of the object can be expressed as a function of the sensor values and the motion of the palms. We present a brief review of previous results for the planar case. In this paper we show that the 3D case is fundamentally different from the planar case, due to increased tangent dimensionality. The main contribution of this paper is a shape-dynamics analysis in 3D, and the synthesis of shape approximation methods via reconstructed contact point curves.

BibTeX Entry

@InProceedings{moll-erdmann2002:recon-shape-motion-unknow,
  author =	 "Mark Moll and Michael A. Erdmann",
  title =	 "Reconstructing the Shape and Motion of Unknown Objects
                  with Active Tactile Sensors",
  booktitle =	 "Proceedings of the Fifth International Workshop on
                  Algorithmic Foundations of Robotics (WAFR)",
  year =	 2002,
  editor =	 "Jean-Daniel Boissonnat and Joel Burdick and Ken Goldberg
                  and Seth Hutchinson",
  month =	 dec,
  publisher =	 SPR,
  note =	 "To appear",
  keywords =	 "tactile sensing, shape reconstruction, nonprehensile
                  manipulation, contact kinematics",
  abstract =	 "We present a method to simultaneously reconstruct the
                  shape and motion of an unknown smooth convex object. The
                  object is manipulated by planar palms covered with tactile
                  elements. The shape and dynamics of the object can be
                  expressed as a function of the sensor values and the
                  motion of the palms. We present a brief review of previous
                  results for the planar case. In this paper we show that
                  the 3D case is fundamentally different from the planar
                  case, due to increased tangent dimensionality. The main
                  contribution of this paper is a shape-dynamics analysis in
                  3D, and the synthesis of shape approximation methods via
                  reconstructed contact point curves.",
}