Curvature based shape estimation using tactile sensing. - M. Charlebois; Kamal Gupta 001; Shahram Payandeh (ICRA, 1996)

Shape description of general, curved surfaces using tactile sensing and surface normal information. - M. Charlebois; Kamal Gupta 001; Shahram Payandeh (ICRA, 1997)

Shape Description of Curved Surfaces from Contact Sensing Using Surface Normals. - M. Charlebois; Kamal Gupta 001; Shahram Payandeh (Int. J. Robotics Res., 1999)

On estimating local shape using contact sensing. - M. Charlebois; Kamal Gupta 001; Shahram Payandeh (J. Field Robotics, 2000)