2025/05/17 by Paris Oikonomou, Oikonomou, Paris, George Retsinas +5
Engineering · #Advanced Sensor and Energy Harvesting Materials #FOS: Computer and information sciences #Robot Manipulation and Learning #Robotics (cs.RO) #Soft Robotics and Applications
paper · pdf · doi:10.48550/arxiv.2505.11975
openalex publication_date 2025/05/17 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
The perception of an object's surface is important for robotic applications enabling robust object manipulation. The level of accuracy in such a representation affects the outcome of the action planning, especially during tasks that require physical contact, e.g. grasping. In this paper, we propose a novel iterative method for 3D shape reconstruction consisting of two steps. At first, a mesh is fitted on data points acquired from the object's surface, based on a single primitive template. Subsequently, the mesh is properly adjusted to adequately represent local deformities. Moreover, a novel proactive tactile exploration strategy aims at minimizing the total uncertainty with the least number of contacts, while reducing the risk of contact failure in case the estimated surface differs significantly from the real one. The performance of the methodology is evaluated both in 3D simulation and on a real setup.