This thesis presents methods to improve the manipulation capabilities of robots. People and animals can effectively handle objects of many shapes, sizes, weights, and materials using a variety of manipulation primitives such as grasping, pushing, sliding, tipping, rolling, and throwing. In contrast, most robots manipulate objects by pick-and-place. Restricting robots...
Phase separation in segmented polymers provides distinct challenges in regard to their chemical reaction kinetics and characterization. Well studied, it has been shown that structure, phase separation and non-covalent interactions are key factors in the design of elastomeric polyurethanes. Specifically, this dissertation is focused on two areas: the synthesis of...