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The ability of liquid interfaces to shape slender elastic structures provides powerful strategies to control the architecture of mechanical self assemblies. However, elastocapillarity-driven intelligent design remains unexplored in more…
Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding challenge in robotics is to emulate this…
The nonlinear mechanics of a flexible elastic rod constrained at its edges by a pair of sliding sleeves is analyzed. The planar equilibrium configurations of this variable-length elastica are found to have shape defined only by the…
Autonomous wire harness assembly requires robots to manipulate complex branched cables with high precision and reliability. A key challenge in automating this process is predicting how these flexible and branched structures behave under…
Robotic arms built from stiffness-adjustable, continuously bending segments serially connected with revolute joints have the ability to change their mechanical architecture and workspace, thus allowing high flexibility and adaptation to…
This paper describes a method for steering deformable linear objects using two robot hands in environments populated by sparsely spaced obstacles. The approach involves manipulating an elastic inextensible rod by varying the gripping…
Designing and fabricating structures with specific mechanical properties requires understanding the intricate relationship between design parameters and performance. Understanding the design-performance relationship becomes increasingly…
Humans are able to manipulate Deformable Linear Objects (DLOs) such as cables and wires, with little or no visual information, relying mostly on force sensing. In this work, we propose a reduced DLO model which enables such blind…
In this work, the Cosserat formulation of geometrically exact beam dynamics is extended by adding the electric potential as an additional degree of freedom to account for the electromechanical coupling in the Dielectric Elastomer Actuators…
Numerical and analytical methods are developed for the investigation of contact sets in electrostatic-elastic deflections modeling micro-electro mechanical systems. The model for the membrane deflection is a fourth-order semi-linear partial…
We propose a framework for deformable linear object prediction. Prediction of deformable objects (e.g., rope) is challenging due to their non-linear dynamics and infinite-dimensional configuration spaces. By mapping the dynamics from a…
Networks of elastic beams can deform either by stretching or bending of their members. The primary mode of deformation (bending or stretching) crucially depends on the specific details of the network architecture. In order to shed light on…
The classical models used for describing the behavior of woven fabrics do not fully account for the whole set of phenomena that occur during the testing of such materials. This lack of precision is mainly due to the absence of energy terms…
We propose a method for the description and simulation of the nonlinear dynamics of slender structures modeled as Cosserat rods. It is based on interpreting the strains and the generalized velocities of the cross sections as basic variables…
Creases are purposely introduced to thin structures for designing deployable origami, artistic geometries, and functional structures with tunable nonlinear mechanics. Modeling the mechanics of creased structures is challenging because…
We present a novel Learning from Demonstration (LfD) method, Deformable Manipulation from Demonstrations (DMfD), to solve deformable manipulation tasks using states or images as inputs, given expert demonstrations. Our method uses…
The design of compliant mechanisms is crucial in several technologies and relies on the availability of solutions for nonlinear structural problems. One of these solutions is given and experimentally validated in the present article for a…
Multi-directional 3D printing has the capability of decreasing or eliminating the need for support structures. Recent work proposed a beam-guided search algorithm to find an optimized sequence of plane-clipping, which gives volume…
The Piecewise Constant Curvature (PCC) model is the most widely used soft robotic modeling and control. However, the PCC fails to accurately describe the deformation of the soft robots when executing dynamic tasks or interacting with the…
The ubiquitous appearance of regions of localized deformation (shear bands) in different kinds of disordered materials under shear is studied in the context of a mesoscopic model of plasticity. The model may or may not include relaxational…