Dynamic shape reconstruction using tactile sensors

被引：0

作者：

Moll, M ^{[1
]}

Erdmann, MA ^{[1
]}

机构：

[1] Carnegie Mellon Univ, Dept Comp Sci, Pittsburgh, PA 15213 USA

来源：

2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS | 2002年

关键词：

tactile sensing; manipulation; shape reconstruction; observability;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We present new results on reconstruction of the shape-and motion of an unknown object using tactile sensors without requiring object immobilization. A robot manipulates the object with two flat palms 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.

引用

页码：1636 / 1641

页数：6

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