Related papers: Approximating a Target Surface with 1-DOF Rigid Or…
Grasping an object when it is in an ungraspable pose is a challenging task, such as books or other large flat objects placed horizontally on a table. Inspired by human manipulation, we address this problem by pushing the object to the edge…
The art and science of folding intricate three-dimensional structures out of paper has occupied artists, designers, engineers, and mathematicians for decades, culminating in the design of deployable structures and mechanical metamaterials.…
We derive a model for the optimization of the bending and torsional rigidities of non-homogeneous elastic rods. This is achieved by studying a sharp interface shape optimization problem with perimeter penalization, that treats both…
We find a closed-form expression for the Poisson's coefficient of curved-crease variants of the ``Miura ori'' origami tessellation. This is done by explicitly constructing a continuous one-parameter family of isometric piecewise-smooth…
Thin sheets can be assembled into tubular origami structures that combine deployability with pronounced anisotropic stiffness, enabling applications ranging from robotics to deployable systems. However, most existing tubular origami designs…
We propose a method for constructing high-quality, closed-surface meshes from confined 3D point clouds via a physically-based simulation of flexible foils under spatial constraints. The approach integrates dynamic elasticity,…
We prove that testing the flat foldability of an origami crease pattern (either labeled with mountain and valley folds, or unlabeled) is fixed-parameter tractable when parameterized by the ply of the flat-folded state and by the treewidth…
If we consider human manipulation, it is clear that contact-rich manipulation (CRM)-the ability to use any surface of the manipulator to make contact with objects-can be far more efficient and natural than relying solely on end-effectors…
Curvature plays a central organizational role in active polymer dynamics. Using large-scale Langevin-dynamics simulations, we study active semiflexible filaments confined to smooth curved surfaces and map how curvature, bending rigidity,…
We present a simple, accessible method for autonomously transforming flat plastic sheets into intricate three-dimensional structures using only uniform heating and common tools such as household ovens and scissors. Our approach combines…
Flexible surfaces can modulate fluid forces through deformation, enabling passive adaptation to flow conditions. Here we show that kirigami sheets, planar surfaces patterned with arrays of parallel slits, provide a simple route to tunable…
Generalizing the well-known relations on characteristic functions on a plane to the case of a one-dimensional regular surface (curve) with compact support, we establish implicit equations for these functions. Introducing an approximation,…
An intuitive design method is proposed for generating developable ruled B-spline surfaces from a sequence of straight line segments indicating the surface shape. The first and last line segments are enforced to be the head and tail ruling…
Origami is an ancient art that continues to yield both artistic and scientific insights to this day. In 2012, Buhler, Butler, de Launey, and Graham extended these ideas even further by developing a mathematical construction inspired by…
We use computer simulations and simple theoretical models to analyze the morphologies that result when rod-like particles end-attach onto a curved surface, creating a finite-thickness monolayer aligned with the surface normal. This geometry…
Efficiently generating grasp poses tailored to specific regions of an object is vital for various robotic manipulation tasks, especially in a dual-arm setup. This scenario presents a significant challenge due to the complex geometries…
We prove that the pleated hyperbolic paraboloid, a familiar origami model known since 1927, in fact cannot be folded with the standard crease pattern in the standard mathematical model of zero-thickness paper. In contrast, we show that the…
This paper describes the design of near-field focusing plates, which are grating-like structures that can focus electromagnetic radiation to spots or lines of arbitrarily small subwavelength dimension. A general procedure is outlined for…
We devise a generalization of tree approximation that generates conforming meshes, i.e., meshes with a particular structure like edge-to-edge triangulations. A key feature of this generalization is that the choices of the cells to be…
Orthogonally assembled double-layered corrugated (OADLC) mechanisms are a class of foldable structures that harness origami-inspired methods to enhance the structural stiffness of resulting devices; these mechanisms have extensive…