@InProceedings{	  moll-erdmann2002:dynam-shape-recon-using,
  abstract	= {We present new results on reconstruction of the shape and
		  motion of an unknown object using tactile sensors without
		  requiring object immobilization. A robot manipulates the
		  object with two flat palms covered with tactile sensors. We
		  model the full dynamics and prove local observability of
		  the shape, motion and center of mass of the object based on
		  the motion of the contact points as measured by the tactile
		  sensors.},
  author	= {Mark Moll and Michael A. Erdmann},
  booktitle	= icra-02,
  doi		= {10.1109/ROBOT.2002.1014777},
  keywords	= {shape reconstruction, tactile sensing, observability},
  pages		= {1636--1641},
  title		= {Dynamic Shape Reconstruction Using Tactile Sensors},
  year		= 2002
}