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We introduce an efficient and scalable method for density-based multi-material topology optimization, integrating classical mirror descent techniques with point-wise polytopal design constraints. Such constraints arise naturally in this…
Origami crease patterns are folding paths that transform flat sheets into spatial objects. Origami patterns with a single degree of freedom (DOF) have creases that fold simultaneously. More often, several substeps are required to…
Shells, i.e., objects made of a thin layer of material following a surface, are among the most common structures in use. They are highly efficient, in terms of material required to maintain strength, but also prone to deformation and…
Active structures have the ability to change their shape, properties, and functionality as a response to changing operational conditions, which makes them more versatile than their static counterparts. However, most active structures…
Rigid origami has shown potential in large diversity of practical applications. However, current rigid origami crease pattern design mostly relies on known tessellations. This strongly limits the diversity and novelty of patterns that can…
In the present paper, an integrated paradigm for topology optimization on complex surfaces with arbitrary genus is proposed. The approach is constructed based on the two-dimensional (2D) Moving Morphable Component (MMC) framework, where a…
While the grasping capability of robotic grippers has shown significant development, the ability to manipulate objects within the hand is still limited. One explanation for this limitation is the lack of controlled contact variation between…
A stacking operation adds a $d$-simplex on top of a facet of a simplicial $d$-polytope while maintaining the convexity of the polytope. A stacked $d$-polytope is a polytope that is obtained from a $d$-simplex and a series of stacking…
Kirigami metamaterial sheets and tubes, owing to their capacity to undergo large elastic deformations while developing three-dimensional surface textures, have enormous potential as skins for soft robots. Here, we propose to use kirigami…
This paper presents a synthesis approach in a density-based topology optimization setting to design large deformation compliant mechanisms for inducing desired strains in biological tissues. The modelling is based on geometrical…
Deformable object manipulation remains a key challenge in developing autonomous robotic systems that can be successfully deployed in real-world scenarios. In this work, we explore the challenges of deformable object manipulation through the…
This study examines a biology-inspired approach of using reconfigurable articulation to reduce the control requirement for soft robotic arms. We construct a robotic arm by assembling Kresling origami modules that exhibit predictable…
Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…
Origami and crumpling are two extreme tools to shrink a 3-D shell. In the shrink/expand process, the former is reversible due to its topological mechanism, while the latter is irreversible because of its random-generated creases. We observe…
Tow steering technologies, such as Automated fiber placement, enable the fabrication of composite laminates with curvilinear fiber, tow, or tape paths. Designers may therefore tailor tow orientations locally according to the expected local…
This paper deals with themes such as approximate counting/evaluation of the total number of flat-foldings for random origami diagrams, evaluation of the values averaged over various instances, obtaining forcing sets for general origami…
Materials that are lightweight yet exhibit superior mechanical properties are of compelling importance for several technological applications that range from aircrafts to household appliances. Lightweight materials allow energy saving and…
The geometry of bending-active kirigami arches, decorated by cuts and holes, is strongly influenced by the location and geometry of the perforations. This study demonstrates that, in some instances, the geometric stiffening induced by…
We study, experimentally and theoretically, the mechanical response of sheet materials on which line cracks or cuts are arranged in a simple pattern. Such sheet materials, often called kirigami (the Japanese words, kiri and gami, stand for…
The powerful Lagrangian view of structure formation was essentially introduced to cosmology by Zel'dovich. In the current cosmological paradigm, a dark-matter-sheet 3D manifold, inhabiting 6D position-velocity phase space, was flat (with…