Related papers: Approximating a Target Surface with 1-DOF Rigid Or…
We develop an intrinsic necessary and sufficient condition for single-vertex origami crease patterns to be able to fold rigidly. We classify such patterns in the case where the creases are pre-assigned to be mountains and valleys as well as…
Creating complex spatial objects from a flat sheet of material using origami folding techniques has attracted attention in science and engineering. In the present work, we employ geometric properties of partially folded zigzag strips to…
Consider discrete conformal maps defined on the basis of two conformally equivalent triangle meshes, that is edge lengths are related by scale factors associated to the vertices. Given a smooth conformal map $f$, we show that it can be…
To harness the complexity of their high-dimensional bodies during sensorimotor development, infants are guided by patterns of freezing and freeing of degrees of freedom. For instance, when learning to reach, infants free the degrees of…
We introduce a new class of thin flexible structures that morph from a flat shape into prescribed 3D shapes without an external stimulus such as mechanical loads or heat. To achieve control over the target shape, two different concepts are…
We propose a method for designing refractive optical elements for collimated beam shaping. In this method, the problem of finding a ray mapping is formulated as a linear assignment problem, which is a discrete version of the corresponding…
Topology optimization is able to maximally leverage the high DOFs and mechanical potentiality of porous foams but faces three fundamental challenges: conforming to free-form outer shapes, maintaining geometric connectivity between adjacent…
Grasping a novel target object in constrained environments (e.g., walls, bins, and shelves) requires intensive reasoning about grasp pose reachability to avoid collisions with the surrounding structures. Typical 6-DoF robotic grasping…
Consider an oriented curve $\Gamma$ in a domain $D$ in the plane $\boldsymbol R^2$. Thinking of $D$ as a piece of paper, one can make a curved folding in the Euclidean space $\boldsymbol R^3$. This can be expressed as the image of an…
We introduce a computational origami problem which we call the segment folding problem: given a set of $n$ line-segments in the plane the aim is to make creases along all segments in the minimum number of folding steps. Note that a folding…
We study the fluid-mediated approach of a deformable axisymmetric object towards a rigid substrate, focusing on how its shape influences contact formation. For low approach velocities and large Stokes numbers, we show that sharper profiles…
Manipulation of deformable linear objects (DLOs) in constrained environments is a challenging task. This paper describes a two-layered approach for placing DLOs on a flat surface using a single robot hand. The high-level layer is a novel…
"Flat origami" refers to the folding of flat, zero-curvature paper such that the finished object lies in a plane. Mathematically, flat origami consists of a continuous, piecewise isometric map $f:P\subseteq\mathbb{R}^2\to\mathbb{R}^2$ along…
Origami design principles are scale invariant and enable direct miniaturization of origami structures provided the sheets used for folding have equal thickness to length ratios. Recently, seminal steps have been taken to fabricate…
The ancient art of origami, traditionally used to transform simple sheets into intricate objects, also holds potential for diverse engineering applications, such as shape morphing and robotics. In this study, we demonstrate that one of the…
We study the problem of approximating a surface $F$ in $R^3$ by a high quality mesh, a piecewise-flat triangulated surface whose triangles are as close as possible to equilateral. The MidNormal algorithm generates a triangular mesh that is…
The ability to transform a flat sheet into a complex three-dimensional structure is a fundamental test of physical intelligence. Unlike cloth manipulation, origami is governed by strict geometric axioms and hard kinematic constraints, where…
We explore the following problem: given a collection of creases on a piece of paper, each assigned a folding direction of mountain or valley, is there a flat folding by a sequence of simple folds? There are several models of simple folds;…
We map the problem of determining flat-foldability of the origami diagram onto the ground-state search problem of spin glass model on random graphs. If the origami diagram is locally flat-foldable around each vertex, a pre-folded diagram,…
Morphing surfaces provide a versatile tool to advance the functionalities of high-performance aircraft, soft robots, biomedical devices, and human-machine interfaces. However, achieving precise shape transformation and mechanical property…