| Geometric and Dynamic Sensing: Observation of Pose and Motion through Contact (1997) | |||||||||||||||
Abstract | |||||||||||||||
| I investigate geometric and mechanical sensing strategies for objects of known shapes. Examples include industrial parts and everyday desktop items. Based on nonlinear control theory, I show that local observability from contact holds in typical manipulation tasks, and I present an approach for estimating the pose and motion of a manipulated object from a small amount of tactile data. | |||||||||||||||
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