Kavraki Lab

Physical and Biological Computing

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Abstract:

We present a method to simultaneously reconstruct the
shape and motion of an unknown smooth convex object. The
object is manipulated by planar palms covered with tactile
elements. The shape and dynamics of the object can be
expressed as a function of the sensor values and the motion
of the palms. We present a brief review of previous results
for the planar case. In this paper we show that the 3D case
is fundamentally different from the planar case, due to
increased tangent dimensionality. The main contribution of
this paper is a shape-dynamics analysis in 3D, and the
synthesis of shape approximation methods via reconstructed
contact point curves.