Allen Peter K. author Columbia University. Computer Science Michelman Paul author Columbia University. Computer Science Columbia University. Computer Science originator text Articles 1990 English A description is given of the use of touch sensing as part of a larger system the authors are building for 3-D shape recovery and object recognition using touch and vision methods. The authors focus on three exploratory procedures (EPs) they have built to acquire and interpret sparse 3D touch data: grasping by containment, planar surface exploration, and surface contour exploration. Experimental results for each of these procedures are presented. The EPs can be used in a coarse-to-fine sensing strategy that tries to build shape descriptions at a number of levels. An important feature of this system is the multiple representations used in recovering and reasoning about shape. Robotics Los Alamitos, Calif. IEEE 1990 33 40 http://dx.doi.org/10.1109/TDSCEN.1989.68099 http://hdl.handle.net/10022/AC:P:15260 NNC NNC 2012-11-12 13:55:32 -0500 2012-11-12 14:00:53 -0500 9261 eng