This paper deals with a new method for three-dimensional object recognition by a tatcile sensor. The method incudes a tracking law, a sampling law and a data processing algorithm. A tactile sensor mounted on the end-effector of a robot is used to lead the robot to track the surface of the object being identified. The tracking law assures the robot to track the surface which can give the characters of the object. The sampling law assures the robot to sample the valid force data and position data. The algorithm is used to process the force data and position data. By this method, a robot can recognize a large object in the range of its operation space which is imposible for a tactite array sensors to recognize.
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