Sliding Touch-based Exploration for Modeling Unknown Object Shape with Multi-fingered Hands

Understand

Efficient and accurate 3D object shape reconstruction contributes significantly to the success of a robot's physical interaction with its environment.

• Acquiring accurate shape information about unknown objects is challenging, especially in unstructured environments, e.g.
• the vision sensors may only be able to provide a partial view.
• To address this issue, tactile sensors could be employed to extract local surface information for more robust unknown object shape estimation.