Allen Peter K. author Columbia University. Computer Science Michelman Paul author Columbia University. Computer Science Columbia University. Computer Science originator text Articles 1990 English The use of touch sensing as part of a large system being built for 3D shape recovery and object recognition using touch and vision methods is described. The authors focus on three exploratory procedures they have devised 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. Robotics 6 4 397 404 1990-08 http://dx.doi.org/10.1109/70.59353 http://hdl.handle.net/10022/AC:P:15077 NNC NNC 2012-10-25 12:29:25 -0400 2012-10-25 12:32:21 -0400 9075 eng