@TechReport{ moll-erdmann2001:shape-recon-planar-dynam,
 abstract  = {We present a a new method to reconstruct the shape of an unknown object using
	     tactile sensors, without requiring object immobilization. Instead, sensing and
	     nonprehensile manipulation occur simultaneously. The robot infers the shape, motion
	     and center of mass of the object based on the motion of the contact points as
	     measured by the tactile sensors. We present analytic results and simulation results
	     assuming quasistatic dynamics. We prove that the shape and motion are observable in
	     both the quasistatic and the fully dynamic case.},
 author	   = {Mark Moll and Michael A. Erdmann},
 institution={Dept. of Computer Science, Carnegie Mellon University},
 keywords  = {tactile reconstruction, contact kinematics, nonlinear observer theory, tactile
	     sensing},
 number	   = {CMU-CS-01-107},
 title	   = {Shape Reconstruction in a Planar Dynamic Environment},
 year	   = {2001}
}