Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 30 for “"Deformable Objects"”.
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Controllable, non-oscillatory damping for deformable objects
… a new method for the controllable damping of deformable objects. The method evolves from physically based techniques; however, it allows for non-physical, but visually plausible motion. This flexibility leads to a simple interface, with intuitive control over the behaviour of the material. …
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Robotic Learning for Perception and Manipulation of Deformable Objects
L'abstract è presente nell'allegato / the abstract is in the attachment
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Learning structured models for robotic manipulation of deformable objects
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-19 without embargo terms
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Haptic interaction with deformable objects using real-time dynamic simulation
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1995.
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Stabilizing demonstration trajectories of linear deformable objects for robotic shoe tying
… tie any shoe include the complex dynamics, the deformable nature of the shoelaces, the long time horizon, the dexterity needed to manipulate flexible objects, and the large variation between different shoes. In this thesis, we make progress towards shoe tying by making a robot that is able to …
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Learning the dynamics of deformable objects and recursive boundary estimation using curve evolution techniques
… propose a method for learning the dynamics of a deformable boundary that uses these learned dynamics to recursively estimate the boundary in each frame over time. In the recursive estimation algorithm, we extend the traditional particle filtering approach by applying sample-based methods to a …
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Data-efficient learning for manipulation, locomotion, and information gathering involving granular media and deformable objects
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2023-12-04 without embargo terms
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The ChainQueen differentiable physics engine
… optimal control and motion planning. Simulating deformable objects is, however, more challenging compared to rigid body dynamics. The underlying physical laws of deformable objects are more complex, and the resulting systems have orders of magnitude more degrees of freedom and therefore they are …
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Deformable models using displacement constraints
… [19], used for creating and animating deformable objects. It is a constraint-based technique that uncouples the constraint forces from the external forces acting on an object, and solves a system of geometric constraints at each time step using an iterative technique. Displacement …
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Physics-based modelling, simulation, placement and learning for musculo-skeletal animations.
… of wrinkles and a machine learning approach for deformable objects based on Deep Neural Networks. Primitives modeling aims at proposing an approach to generating muscle geometry complete with tendons and fibers from superficial patches sketched on the character skin mesh. The method utilizes the …
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Deformable meshes for shape recovery: models and applications
… and imaging technology, more and more 3D objects become available. Among them, deformable objects have gained increasing interests. They include medical instances such as organs, a sequence of objects in motion, and objects of similar shapes where a meaningful correspondence can be …
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Deformable Object Manipulation with a Tactile Reactive Gripper
Manipulating deformable objects remains a fundamental challenge in robotics, as techniques developed for rigid objects often fail to generalize. Deformable objects exhibit infinite-dimensional configuration spaces, frequent self-occlusion, and high model uncertainty, making global state estimation …
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Manipulation and mechanics of thin elastic objects
… the equilibrium and stability properties of thin deformable objects are considered, with particular focus given to the analysis of thin elastic rods. The problems considered can be divided into two related categories: manipulation and mechanics. First, a few results concerning symmetries in …
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3D Non-Rigid Reconstruction with Prior Shape Constraints
… been proven effective for reconstructions of objects with relatively small deformations, but have considerable limitations when the deformations are large or complex. The non-linear deformations are often observed in highly flexible objects for which the use of the linear model is impractical. …
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CableSplat: Optimized 3D Gaussian Splatting for 1D Deformable Pose Estimation
A key challenge in the robotic manipulation of deformable objects is the lack of accurate and efficient systems for estimating their pose in real-time, especially in the presence of occlusion. In this thesis we propose CableSplat, a novel non-parametric method leveraging 3D Gaussian Splatting to …
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Estimating the material properties of fabric through the observation of motion
… for predicting the physical properties of moving deformable objects observed in video. We apply our framework to analyze videos of fabrics moving under various unknown wind forces, and recover two key material properties of the fabric: stiffness and mass. We extend features previously developed to …
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Deformable Object Manipulation with a Tactile Reactive Gripper
Deformable objects like cloth and cables are challenging for robots to manipulate due to their high-dimensionality and unpredictable dynamics. In previous work, Yu et. al (2019) [45] used a tactile sensor to estimate the pose of a cable within the grip while sliding along it. The authors used …
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Interactive Touch for Manipulation
… world and inevitably make contact with various objects. Touch provides contact geometry and forces information during interactions, which can be challenging to observe from vision due to occlusions or inherent limitations. This thesis will focus on how to let robots leverage touch for …
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Dense visual learning for robot manipulation
… contact-rich tasks manipulating household objects, including generalizing across a class of objects, manipulating deformable objects, and manipulating a textureless symmetrical object, all with closed-loop, real-time vision-based manipulation policies.
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Structured model learning for adaptive robot generalists
… For contact-rich scenarios involving multiple objects, learned dynamics models combined with behavior primitives enable reasoning about object interactions. The framework further separates state prediction (using diffusion models) from action generation (using inverse dynamics models), enabling …
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