CISE Postdoc Research Associates in Experimental Computer Science: Manipulation of Rigid and Deformable Objects with Applications in Manufacturing and Computer-Assisted Surgery

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EIA-0072743Kavraki, LydiaRice UniversityCISE Postdoctoral Associates in Experimental Computer Science: Manipulationof Rigid and Deformable Objects with Applications in Manufacturing andComputer-Aided SurgeryObject manipulation has been a central theme in robotics over the lastdecade. Efficient techniques have been proposed for positioning,orienting, sorting, etc., rigid objects under a variety of constraints andsensory input. Although several problems concerning rigid parts deservefurther attention, recent advances in manufacturing also require themanipulation of deformable objects such as cables, pipes, paper, etc.,needed for producing compact assemblies. Building on the theory ofmanipulation of rigid objects, the postdoctoral associate will investigatethe manipulation of deformable objects and selected problems involvingrigid object manipulation. The goal is for the associate to assist in (a)developing appropriate computational models for deformable objects, (b)studying fundamental notions such as stable grasping and fixturing ofdeformable objects, and (c) providing efficient procedures to compute theexpected deformations of objects under manipulation constraints. Oneimportant and challenging application of the proposed work is thesimulation of deformable human tissues. Such a simulation can lead to thedevelopment of virtual training environments for surgical procedures.