Mengyao Ruan

Accounting for Directional Rigidity and Constraints in Control for Manipulation of Deformable Objects without Physical Simulation

Deformable objects like cloth and rope are challenging to manipulate because it is difficult to predict the state of the object given a motion of the gripper(s) holding it. In much previous work, physical models (such as Mass-Spring or Finite-Element) have been used to model such affects. However, t…