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.
This work was supported in part by the National Science Foundation under grant IIS-9820180. The research was performed while the first author was with Carnegie Mellon University.
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Moll, M., Erdmann, M.A. (2004). Reconstructing the Shape and Motion of Unknown Objects with Active Tactile Sensors. In: Boissonnat, JD., Burdick, J., Goldberg, K., Hutchinson, S. (eds) Algorithmic Foundations of Robotics V. Springer Tracts in Advanced Robotics, vol 7. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-45058-0_18
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DOI: https://doi.org/10.1007/978-3-540-45058-0_18
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