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Haptic Exploration of Unknown Surfaces with Discontinuities

This is the video accompanying our IROS 2014 paper – “Haptic Exploration of Unknown Surfaces with Discontinuities”. We used a KUKA LWR (Lightweight arm) robot, equipped with a 6-axis force/torque sensor and a rolling pin at the end-effector. The work will be presented in September at IROS 2014 conference, Chicago, USA.
Video credit: Rodrigo Jamisola and Petar Kormushev