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CMU-CS-01-107
Computer Science Department
School of Computer Science, Carnegie Mellon University
CMU-CS-01-107
Shape Reconstruction in a Planar Dynamic Environment
Mark Moll, Michael A. Erdmann
May 2001
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CMU-CS-01-107.pdf
Keywords: Tactile sensing, shape reconstruction, nonprehensile
manipulation, contact kinematics
We present a new method to reconstruct the shape of an unknown object
using tactile sensors, without requiring object immobilization. Instead,
sensing and nonprehen-sile manipulation occur simultaneously. The robot
infers the shape, motion and center of mass of the object based on the
motion of the contact points as measured by the tactile sensors. We
present analytic results and simulation results assuming
quasistatic dynamics. We prove that the shape and motion are
observable in both the quasistatic and the fully dynamic case.
54 pages
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