Dynamic Shape Reconstruction using Tactile Sensors

—We present new results on reconstruction of the shape and motion of an unknown object using tactile sensors without requiring objectimmobilization. Arobotmanipulatestheobjectwithtwoflatpalms 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. Keywords— tactile sensing, manipulation, shape reconstruction, observability

• Type: Conference
• Year: 2002
• Where: ICRA
• Authors: Mark Moll, Michael Erdmann
• Keywords: ICRA 2002, Keywords— Tactile, Robotics, Tactile Sensors, Unknown Object