<?xml version="1.0" encoding="UTF-8"?><xml><records><record><source-app name="Biblio" version="6.x">Drupal-Biblio</source-app><ref-type>27</ref-type><contributors><authors><author><style face="normal" font="default" size="100%">Moll, Mark</style></author><author><style face="normal" font="default" size="100%">Erdmann, M A</style></author></authors></contributors><titles><title><style face="normal" font="default" size="100%">Shape Reconstruction in a Planar Dynamic Environment</style></title></titles><keywords><keyword><style  face="normal" font="default" size="100%">contact kinematics</style></keyword><keyword><style  face="normal" font="default" size="100%">observability</style></keyword><keyword><style  face="normal" font="default" size="100%">tactile reconstruction</style></keyword></keywords><dates><year><style  face="normal" font="default" size="100%">2001</style></year></dates><number><style face="normal" font="default" size="100%">CMU-CS-01-</style></number><publisher><style face="normal" font="default" size="100%">Dept. of Computer Science, Carnegie Mellon University</style></publisher><language><style face="normal" font="default" size="100%">eng</style></language><abstract><style face="normal" font="default" size="100%">We present a a new method to reconstruct the shape of an
		  unknown object using tactile sensors, without requiring
		  object immobilization. Instead, sensing and nonprehensile
		  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.</style></abstract><work-type><style face="normal" font="default" size="100%">techreport</style></work-type></record></records></xml>