Dartmouth College Dartmouth Digital Commons Dartmouth College Ph.D Dissertations Theses, Dissertations, and Graduate Essays 2-1-2010 Flexible Object Manipulation Matthew P. Bell Dartmouth College Follow this and additional works at: https://digitalcommons.dartmouth.edu/dissertations Part of the Computer Sciences Commons Recommended Citation Bell, Matthew P., "Flexible Object Manipulation" (2010). Dartmouth College Ph.D Dissertations. 28. https://digitalcommons.dartmouth.edu/dissertations/28 This Thesis (Ph.D.) is brought to you for free and open access by the Theses, Dissertations, and Graduate Essays at Dartmouth Digital Commons. It has been accepted for inclusion in Dartmouth College Ph.D Dissertations by an authorized administrator of Dartmouth Digital Commons. For more information, please contact
[email protected]. FLEXIBLE OBJECT MANIPULATION A Thesis Submitted to the Faculty in partial fulfillment of the requirements for the degree of Doctor of Philosophy in Computer Science by Matthew Bell DARTMOUTH COLLEGE Hanover, New Hampshire February 2010 Dartmouth Computer Science Technical Report TR2010-663 Examining Committee: (chair) Devin Balkcom Scot Drysdale Tanzeem Choudhury Daniela Rus Brian W. Pogue, Ph.D. Dean of Graduate Studies Abstract Flexible objects are a challenge to manipulate. Their motions are hard to predict, and the high number of degrees of freedom makes sensing, control, and planning difficult. Additionally, they have more complex friction and contact issues than rigid bodies, and they may stretch and compress. In this thesis, I explore two major types of flexible materials: cloth and string. For rigid bodies, one of the most basic problems in manipulation is the development of immo- bilizing grasps. The same problem exists for flexible objects.