The project goal is the evolution of a scheme to determine an object's shape by tactile sensing. A crucial direction of research in robotics is the development of machines that interact with their environments comprehensively and intelligently. This research addresses a part of the effort, namely the probing of unknown surfaces and objects by tactile sensing, the determination of the shape of the surface or object from this information, and the effect of this shape determination on control algorithms. The work combines elements of mechanics, online control, estimation theory, and artificial intelligence.
