Holly Dinkel - PhD Final Exam
Speaker: Holly Dinkel, NASA Robotics Fellow and PhD Candidate at the University of Illinois Urbana-Champaign
Examination Committee: Professor Tim Bretl (Chair, Co-Director of Research, UIUC), Dr. Brian Coltin (Co-Director of Research, NASA Ames), Dr. Trey Smith (Co-Director of Research, NASA Ames), Professor Nancy Amato (Member, UIUC), Assistant Professor Huy Tran (Member, UIUC), Assistant Professor Justin Yim (Member, UIUC)
Title: Representing and Manipulating Deformable Linear Objects
My research develops algorithms that enable robots to detect, track, manipulate, and predict the shapes of deformable linear objects (DLOs), such as rope, string, tubing, and wiring. These objects are common in human environments and critical to applications like surgery, power line inspection, and cable routing. However, they remain difficult for robots to perceive and control due to frequent occlusions and complex physics. In this defense, I present methods that allow assistive robots to better understand and interact with deformable objects, moving toward the broader goal of using them as tools to reshape their environment.
This meeting is open to the public and may be of particular interest to:
those interested in robotics, especially in perception, manipulation, and the automation of interactions with deformable objects;
those curious about how a Ph.D. student working at the intersection of robotics and space might spend five years of their life; and
friends, mentors, colleagues, and family who have crossed paths with and supported me on this journey.
Looking forward to seeing you on July 7, 2025! For in-person attendees, the defense will be held in the Coordinated Science Laboratory Room B02 (Auditorium). Online attendees will be able to join on Zoom via luma after registering for the event.
In the meantime, checkout some of the freely open-source software [https://github.com/RMDLO] and videos [https://www.youtube.com/@uiucrmdlo] produced as part of this project!