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Rigid origami is a branch of origami with great potential in engineering applications to deal with rigid-panel folding. One of the challenges is to compactly fold the polyhedra made from rigid facets with a single degree of freedom. In this…
Robotic manipulators often face challenges in handling objects of different sizes and materials, limiting their effectiveness in practical applications. This issue is particularly pronounced when manipulating meter-scale objects or those…
In 3D printing, stiff fibers (e.g., carbon fiber) can reinforce thermoplastic polymers with limited stiffness. However, existing commercial digital manufacturing software only provides a few simple fiber layout algorithms, which solely use…
The ability to morph flat sheets into complex 3D shapes is extremely useful for fast manufacturing and saving materials while also allowing volumetrically efficient storage and shipment and a functional use. Direct 4D printing is a…
Auto-regressive models have achieved impressive results in 2D image generation by modeling joint distributions in grid space. In this paper, we extend auto-regressive models to 3D domains, and seek a stronger ability of 3D shape generation…
The three-dimensional bin packing problem (3D-BPP) plays an important role in city logistics and manufacturing environments, due to its direct relevance to operational cost. Most existing literature have investigated the conventional…
Various non-trivial spaces are becoming popular for embedding structured data such as graphs, texts, or images. Following spherical and hyperbolic spaces, more general product spaces have been proposed. However, searching for the best…
In this work we propose algorithms to explicitly construct a conservative estimate of the configuration spaces of rigid objects in 2D and 3D. Our approach is able to detect compact path components and narrow passages in configuration space…
A folded disk is bistable, as it can be popped through to an inverted state with elastic energy localized in a small, highly-deformed region on the fold. Cutting out this singularity relaxes the surrounding material and leads to a loss of…
An origami manifold is a manifold equipped with a closed 2-form which is symplectic except on a hypersurface where it is like the pullback of a symplectic form by a folding map and its kernel fibrates with oriented circle fibers over a…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
The problem of decomposing non-manifold object has already been studied in solid modeling. However, the few proposed solutions are limited to the problem of decomposing solids described through their boundaries. In this thesis we study the…
Soft robotic grippers gently and safely manipulate delicate objects due to their inherent adaptability and softness. Limited by insufficient stiffness and imprecise force control, conventional soft grippers are not suitable for applications…
Using X-ray tomography, we experimentally investigate the structural evolution of packings composed of 3D-printed hexapod particles, each formed by three mutually orthogonal spherocylinders, during tap-induced compaction. We identify two…
Rigid foldability allows an origami pattern to fold about crease lines without twisting or stretching component panels. It enables folding of rigid materials, facilitating the design of foldable structures. Recent study shows that rigid…
Efficient optimization of topology and raster angle has shown unprecedented enhancements in the mechanical properties of 3D printed materials. Topology optimization helps reduce the waste of raw material in the fabrication of 3D printed…
In this paper, we show that deciding rigid foldability of a given crease pattern using all creases is weakly NP-hard by a reduction from Partition, and that deciding rigid foldability with optional creases is strongly NP-hard by a reduction…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
We combine large-scale atomistic modelling with continuum elastic theory to study the shapes of graphene sheets embedding nanoscale kirigami. Lattice segments are selectively removed from a flat graphene sheet and the structure is allowed…
Achieving tight bounding boxes of a shape while guaranteeing complete boundness is an essential task for efficient geometric operations and unsupervised semantic part detection. But previous methods fail to achieve both full coverage and…