@InProceedings{moll-erdmann2001:recon-shape-motion-using,
 abstract  = {We present a new method to reconstruct the shape of an unknown object using
	     tactile sensors without requiring object immobilization. Instead, the robot
	     manipulates the object without prehension. The robot infers the shape, motion and
	     center of mass of the object based on the motion of the contact points as measured
	     by tactile sensors. Our analysis is supported by simulation and experimental
	     results.},
 address   = {Maui, HI},
 author	   = {Mark Moll and Michael A. Erdmann},
 booktitle = {Proc.\ 2001 {IEEE/RSJ} Intl.\ Conf.\ on Intelligent Robots and Systems},
 doi	   = {10.1109/IROS.2001.976250},
 keywords  = {tactile sensing, shape reconstruction, contact kinematics},
 month	   = {October/November},
 pages	   = {691--700},
 title	   = {Reconstructing Shape from Motion Using Tactile Sensors},
 year	   = {2001}
}