Shape and pose recovery from planar pushing
Name
Leonard_Shape and pose.pdf
Size
4.52 MB
Format
Adobe PDF
Checksum (MD5)
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Author(s)
Yu, Kuan-Ting
Leonard, John J
Rodriguez Garcia, Alberto
Date Issued
December 2015
Journal
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Yu, Kuan-Ting, John Leonard, and Alberto Rodriguez. “Shape and Pose Recovery from Planar Pushing.” IEEE, 2015. 1208–1215.
Version
Author's final manuscript
Abstract
Tactile exploration refers to the use of physical interaction to infer object properties. In this work, we study the feasibility of recovering the shape and pose of a movable object from observing a series of contacts. In particular, we approach the problem of estimating the shape and trajectory of a planar object lying on a frictional surface, and being pushed by a frictional probe. The probe, when in contact with the object, makes observations of the location of contact and the contact normal.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/IROS.2015.7353523
