Date of Original Version

2001

Type

Conference Proceeding

Abstract or Description

We present a new method to reconstruct the shape of an un- known 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 con- tact points as measured by tactile sensors. Our analysis is supported by simulation and experimental results.

Comments

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Published In

Proc. 2001 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems.