Title :
Reconstructing shape from motion using tactile sensors
Author :
Moll, Mark ; Erdmann, Michael A.
Author_Institution :
Dept. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
We present a new method to reconstruct the shape of an unknown object using tactile sensors without requiring object immobilization. Instead, the robot manipulates the object without prehension. The robot infers the shape, motion and the center of mass of the object based on the motion of the contact points as measured by tactile sensors. Our analysis is supported by simulation and experimental results
Keywords :
manipulator kinematics; motion estimation; tactile sensors; grasping; motion estimation; object manipulation; robot manipulators; shape reconstruction; tactile sensor; Analytical models; Computer science; Equations; Fingers; Humans; Motion measurement; Probes; Robot sensing systems; Shape measurement; Tactile sensors;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.976250
