Before the Tipping Point: Force-Guided Active Perception for Shape-Agnostic Estimation of 3D Centers of Mass

Steven M. Hyland, Jing Xiao, Cagdas D. Onal

Estimating the 3D center of mass of unknown objects is challenging when grasping is infeasible, geometry is irregular, or mass distribution is uneven. We present a force-based meth…