Related papers: Dynamics of Kresling Origami Deployment
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…
Synchronization of an ensemble of oscillators is an emergent phenomenon present in several complex systems, ranging from social and physical to biological and technological systems. The most successful approach to describe how coherent…
We show that the correlation and entanglement dynamics of spin systems can be understood in terms of propagation of spin waves. This gives a simple, physical explanation of the behaviour seen in a number of recent works, in which a…
Screw-based locomotion is a robust method of locomotion across a wide range of media including water, sand, and gravel. A challenge with screws is their significant number of impactful design parameters that affect locomotion performance.…
Object manipulation is a fundamental challenge in robotics, where systems must balance trade-offs among manipulation capabilities, system complexity, and throughput. Distributed manipulator systems (DMS) use the coordinated motion of…
Advances in machine learning have revolutionized capabilities in applications ranging from natural language processing to marketing to health care. Here, we demonstrate the efficacy of machine learning in predicting chaotic behavior in…
DNA origami is a widely used method to construct nanostructures by self-assembling designed DNA strands. These structures are often used as "pegboards" for templated assembly of proteins, gold nanoparticles, aptamers, and other molecules,…
We develop a theory of random flat-foldable origami. Given a crease pattern, we consider a uniformly random assignment of mountain and valley creases, conditioned on the assignment being flat-foldable at each vertex. A natural method to…
We present a modelling framework, and basic model parameterization, for the study of DNA origami folding at the level of DNA domains. Our approach is explicitly kinetic and does not assume a specific folding pathway. The binding of each…
The field of rigid origami concerns the folding of stiff, inelastic plates of material along crease lines that act like hinges and form a straight-line planar graph, called the crease pattern of the origami. Crease pattern vertices in the…
Kirigami, the creative art of paper cutting, is a promising paradigm for mechanical metamaterials. However, to make kirigami-inspired structures a reality requires controlling the topology of kirigami to achieve connectivity and rigidity.…
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 work introduces Ori-Sense, a compliant capacitive sensor inspired by the inverted Kresling origami pattern. The device translates torsional deformation into measurable capacitance changes, enabling proprioceptive feedback for soft…
We propose a novel computational framework for modeling and simulating origami structures. In this framework, bilinear solid-shell elements are employed to model the origami panels while crease folding is considered through the angle…
Kirigami is an increasingly useful fabrication method to produce shape-programmable metamaterial structures. However, inverse design remains difficult because deployment is nonlinear, and feasible cut layouts must satisfy discrete…
Origami principles are used to create strong, lightweight structures with complex mechanical response. However, identifying the fundamental physical principles that determine a sheet's behavior remains a challenge. We introduce a new…
Transitions of multistability in structures have been exploited for various functions and applications, such as spectral gap tuning, impact energy trapping, and wave steering. However, a fundamental and comprehensive understanding of the…
Helical structures, almost ubiquitous in biological systems, have inspired the design and manufacturing of helical devices with applications in nanoelecromechanical systems (NEMS), morphing structures, optoelectronics, micro-robotics and…
Non-prehensile manipulation such as pushing is typically subject to uncertain, non-smooth dynamics. However, modeling the uncertainty of the dynamics typically results in intractable belief dynamics, making data-efficient planning under…
People are constantly in touch with surfaces in their lives, such as a sofa, armrest, and table, making them natural tactile interfaces. Despite the recent advancements in shape-changing surfaces, current available solutions are often…