A comprehensive study on robotic manipulation of deformable linear objects

Giduthuri, Jyotsna Sai Deepak (2022) A comprehensive study on robotic manipulation of deformable linear objects. [Laurea magistrale], Università di Bologna, Corso di Studio in Automation engineering / ingegneria dell’automazione [LM-DM270], Documento full-text non disponibile
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There are many deformable objects such as papers, clothes, ropes in a person’s living space. To have a robot working in automating the daily tasks it is important that the robot works with these deformable objects. Manipulation of deformable objects is a challenging task for robots because these objects have an infinite-dimensional configuration space and are expensive to model, making real-time monitoring, planning and control difficult. It forms a particularly important field of robotics with relevant applications in different sectors such as medicine, food handling, manufacturing, and household chores. In this report, there is a clear review of the approaches used and are currently in use along with future developments to achieve this task. My research is more focused on the last 10 years, where I have systematically reviewed many articles to have a clear understanding of developments in this field. The main contribution is to show the whole landscape of this concept and provide a broad view of how it has evolved. I also explained my research methodology by following my analysis from the past to the present along with my thoughts for the future.

Tipologia del documento
Tesi di laurea (Laurea magistrale)
Autore della tesi
Giduthuri, Jyotsna Sai Deepak
Relatore della tesi
Correlatore della tesi
Corso di studio
Ordinamento Cds
Parole chiave
robotic manipulation,Manipulation,Deformable objects,Deformable linear objects,sensing of deformable objects,DLO
Data di discussione della Tesi
5 Ottobre 2022

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