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Localization of curved parts through continual touch
2005
IEEE Transactions on robotics
We describe a simple system that localizes two-dimensional curved shapes through touch sensing, offering computational and experimental studies. The idea lies in determining the placement of a manipulator on a curved object during some special motion-rolling. A geometric algorithm is introduced to locate the boundary segment traced out by their contact using tactile data. Both completeness and local convergence have been established. The algorithm is asymptotically as efficient as evaluating
doi:10.1109/tro.2005.844675
fatcat:jnfzq6naojevvcqetqrinb5diy