Advanced Manipulation of Linear Deformable Objects in Complex Environments

Abstract

This thesis presents a comprehensive investigation into the modeling and analysis of linear deformable objects (DLOs) through both dynamic and static perspectives. In the dynamic modeling section, a robust framework is established for modeling the dynamics of DLOs, enabling the simulation of various dynamic paths and the computation of generalized forces and moments. The static modeling segment delves into the equilibrium of passive DLOs, validating the existence of multiple static equilibrium configurations and providing insights into the behavior of DLOs under quasi-static manipulation. A contact model is introduced, facilitating efficient contact detection and accurate computation of contact forces between DLOs and other surfaces. Shape regulation techniques utilizing nonlinear optimization algorithms are explored, enabling versatile and accurate regulation of DLO shapes in three-dimensional space. Experimental validation of the proposed methods demonstrates their efficacy in practical scenarios, affirming their reliability and applicability.

Date of Award	1 May 2024
Original language	American English
Supervisor	Federico Renda (Supervisor)