Find results with:

Add another field

Search by date

to

Searching collections:

Dartmouth Dissertations

Add or remove collections

Home Dartmouth Dissertations Page 1

Reference URL

To link to the entire object, paste this link in email, IM or document

To embed the entire object, paste this HTML in website

To link to this page, paste this link in email, IM or document

To embed this page, paste this HTML in website

Flexible object manipulation.

you wish to report:

Your comment:

Your Name:

Submit

Cancel

...

Back to top

Powered by CONTENTdm®

Call No.	Ph.D. 2010
Author	Bell, Matthew.
Title	Flexible object manipulation.
Date	2010
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 immobilizing grasps. The same problem exists for flexible objects. I have shown that a simple polygonal piece of cloth can be fully immobilized by grasping all convex vertices and no more than one third of the concave vertices. I also explored simple manipulation methods that make use of gravity to reduce the number of fingers necessary for grasping. I have built a system for folding a T-shirt using a 4 DOF arm and a fixed-length iron bar which simulates two fingers. The main goal with string manipulation has been to tie knots without the use of any sensing. I have developed single-piece fixtures capable of tying knots in fishing line, solder, and wire, along with a more complex track-based system for autonomously tying a knot in steel wire. I have also developed a series of different fixtures that use compressed air to tie knots in string. Additionally, I have designed four-piece fixtures, which demonstrate a way to fully enclose a knot during the insertion process, while guaranteeing that extraction will always succeed.
Description	viii, 120 leaves : ill. ; 28 cm.
Format	application/pdf
Advisor	Devin Balkcom Scot Drysdale, Tanzeem Choudhury, Daniela Rus
Subject	Robot hands -- Design and construction. Robots -- Motion -- Mathematical models. Manipulators (Mechanism) -- Design and construction. Textile fabrics. Knots and splices. String.
College	Dartmouth College -- Department of Computer Science.
Issuing Body	Dartmouth Dissertations are made available through the Dartmouth Digital Library.
Degree	Thesis (Ph.D.)--Dartmouth College.
Copyright	All rights reserved. No part of this book may be reproduced in any form by any electronic or mechanical means without permission in writing from the author.
DOI	http://dx.doi.org/10.1349/ddlp.367

Title	Page 1
Format	application/pdf
Issuing Body	Dartmouth Dissertations are made available through the Dartmouth Digital Library.
Degree	Thesis (Ph.D.)--Dartmouth College.
Full Text	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 Examining Committee: (chair) Devin Balkcom Scot Drysdale Tanzeem Choudhury Daniela Rus Brian W. Pogue, Ph.D. Dean of Graduate Studies

	All
	Pages Enter page numbers or page ranges separated by commas. For example: 1,3,5-12

Find results with:

Searching collections:

Home Dartmouth Dissertations Page 1

Flexible object manipulation.

Page 1

Object Description

Description

Flexible object manipulation.

Flexible object manipulation.