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dc.contributor.authorYu, Kuan-Ting
dc.contributor.authorLeonard, John Joseph
dc.contributor.authorRodriguez, Alberto
dc.date.accessioned2015-12-17T14:18:08Z
dc.date.available2015-12-17T14:18:08Z
dc.date.issued2015-09
dc.identifier.urihttp://hdl.handle.net/1721.1/100413
dc.description.abstractTactile 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. Our approach draws inspiration from the SLAM problem, where noisy observations of the location of landmarks are used to reconstruct and locate a static environment. In tactile exploration, analogously, we can think of the object as a rigid but moving environment, and of the pusher as a sensor that reports contact points on the boundary of the object. A key challenge to tactile exploration is that, unlike visual feedback, sensing by touch is intrusive in nature. The object moves by the action of sensing. In the 2D version of the problem that we study in this paper, the well understood mechanics of planar frictional pushing provides a motion model that plays the role of odometry. The conjecture we investigate in this paper is whether the models of frictional pushing are sufficiently descriptive to simultaneously estimate the shape and pose of an object from the cumulative effect of a sequence of pushes.en_US
dc.description.sponsorshipNational Science Foundation (U.S.) (Award IIS-1427050)en_US
dc.language.isoen_US
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.isversionofhttps://ras.papercept.net/conferences/scripts/abstract.pl?ConfID=103&Number=2091en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourceRodriguezen_US
dc.titleShape and Pose Recovery from Planar Pushingen_US
dc.typeArticleen_US
dc.identifier.citationYu, Kuan-Ting, John Leonard, and Alberto Rodriguez. "Shape and Pose Recovery from Planar Pushing." 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (September 2015).en_US
dc.contributor.departmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratoryen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineeringen_US
dc.contributor.approverRodriguez, Albertoen_US
dc.contributor.mitauthorYu, Kuan-Tingen_US
dc.contributor.mitauthorRodriguez, Albertoen_US
dc.contributor.mitauthorLeonard, John Josephen_US
dc.relation.journalProceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systemsen_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dspace.orderedauthorsYu, Kuan-Ting; Leonard, John; Rodriguez, Albertoen_US
dc.identifier.orcidhttps://orcid.org/0000-0002-8863-6550
dc.identifier.orcidhttps://orcid.org/0000-0002-1119-4512
dc.identifier.orcidhttps://orcid.org/0000-0002-8954-2310
mit.licenseOPEN_ACCESS_POLICYen_US
mit.metadata.statusComplete


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