Related papers: Approximating a Target Surface with 1-DOF Rigid Or…

Thin elastic sheets bend easily and, if they are patterned with cuts, can deform in sophisticated ways. Here we show that carefully tuning the location and arrangement of cuts within thin sheets enables the design of mechanical actuators…

This paper considers an extension of origami geometry to the case of "folding" a three dimensional (3D) space along a plane. First, all possible incidence constraints between given points, lines and planes are analyzed by using the geometry…

Folding paper along curves leads to spatial structures that have curved surfaces meeting at spatial creases, defined as curve-fold origami. In this work, we provide an Eulerian framework focusing on the mechanics of arbitrary curve-fold…

This paper proposes a family of origami tessellations called extruded Miura-Ori, whose folded state lies between two parallel planes with some faces on the planes, potentially useful for folded core materials because of face bonding. An…

The I-patch is a multi-sided surface representation, defined as a combination of implicit ribbon and bounding surfaces, whose pairwise intersections determine the natural boundaries of the patch. Our goal is to show how a collection of…

Object manipulation in robotics faces challenges due to diverse object shapes, sizes, and fragility. Gripper-based methods offer precision and low degrees of freedom (DOF) but the gripper limits the kind of objects to grasp. On the other…

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…

We propose a fully automatic method for fitting a 3D morphable model to single face images in arbitrary pose and lighting. Our approach relies on geometric features (edges and landmarks) and, inspired by the iterated closest point…

During planar motion, contact surfaces exhibit a coupling between tangential and rotational friction forces. This paper proposes planar friction models grounded in the LuGre model and limit surface theory. First, distributed planar extended…

In this paper, we investigate the ruled surfaces generated by a straight line according to rotation minimizing frame (RMF). Using this frame of a straight line, we obtained the necessary and sufficient conditions when the ruled surface is…

Topology optimization is concerned with the identification of optimal shapes of deformable bodies with respect to given target functionals. The focus of this paper is on a topology optimization problem for a time-evolving elastoplastic…

We consider a problem in computational origami. Given a piece of paper as a convex polygon $P$ and a point $f$ located within, fold every point on a boundary of $P$ to $f$ and compute a region that is safe from folding, i.e., the region…

The property of a surface being developable can be expressed in different equivalent ways, by vanishing Gauss curvature, or by the existence of isometric mappings to planar domains. Computational contributions to this topic range from…

We present a cost-efficient and versatile method to map an unknown 3D freeform surface using only sparse measurements while the end-effector of a robotic manipulator moves along the surface. The geometry is locally approximated by a plane,…

Three dimensional (3D) structures composed of planar surfaces can be build out of accessible materials using easier fabrication technique with shorter fabrication time. To better design 3D structures with planar surfaces, realistic models…

The need for fast, effective and accurate surveys have become increasingly necessary. A major part of the research is supported by photographic surveys which are used for capturing expansive natural surfaces using a wide range of sensors --…

Origami metamaterials typically consist of folded sheets with periodic patterns, conferring them with remarkable mechanical properties. In the context of Continuum Mechanics, the majority of existing predictive methods are mechanism analogs…

Kirigami involves cutting a flat, thin sheet that allows it to morph from a closed, compact configuration into an open deployed structure via coordinated rotations of the internal tiles. By recognizing and generalizing the geometric…

Robotic manipulation of deformable objects gains great attention due to its wide applications including medical surgery, home assistance, and automatic food preparation. The ability to deform soft objects remains a great challenge for…

Grasping in cluttered environments is a fundamental but challenging robotic skill. It requires both reasoning about unseen object parts and potential collisions with the manipulator. Most existing data-driven approaches avoid this problem…