Robotics in reality-based modeling

Building realistic models of physical objects presents both a significant challenge for robotics and a potentially important area of applications. These models must support interactive simulation in rich, multimodal virtual environments with not only 3D graphics, but also haptic force feedback and auditory displays. In this paper we discuss the problems and opportunities of acquiring such comprehensive models using robotic measurement facilities. We also describe ACME, the UBC Active Measurement Facility, a telerobotic system for building reality-based models.