Related papers: Leaf-like Origami with Bistability for Self-Adapti…
The Japanese art of turning flat sheets into 3D intricate structures, origami, has inspired design of mechanical metamaterials. Mechanical metamaterials are artificially engineered materials with uncommon properties. Miura-ori is a…
The synthesis of human grasping has numerous applications including AR/VR, video games and robotics. While methods have been proposed to generate realistic hand-object interaction for object grasping and manipulation, these typically only…
We study the three-dimensional equilibrium shape of a shell formed by a deployed accordion-like origami, made from an elastic sheet decorated by a series of parallel creases crossed by a central longitudinal crease. Surprisingly, while the…
Multi-task learning of deformable object manipulation is a challenging problem in robot manipulation. Most previous works address this problem in a goal-conditioned way and adapt goal images to specify different tasks, which limits the…
Kirigami, the art of paper cutting, has become a paradigm for mechanical metamaterials in recent years. The basic building blocks of any kirigami structures are repetitive deployable patterns that derive inspiration from geometric art forms…
Auxetic materials become thicker rather than thinner when stretched, exhibiting an unusual negative Poisson's ratio well suited for designing shape transforming metamaterials. Current auxetic designs, however, are often monostable and…
Geometrical frustration induced anisotropy and inhomogeneity are explored to achieve unique properties of metamaterials that set them apart from conventional materials. According to Neumann's principle, to achieve anisotropic responses, the…
Non-periodic folding of periodic crease patterns paves the way to novel nonlinear phenomena that cannot be feasible through periodic folding. This paper focuses on the non-periodic folding of recursive crease patterns generalized from…
Task-oriented object grasping and rearrangement are critical skills for robots to accomplish different real-world manipulation tasks. However, they remain challenging due to partial observations of the objects and shape variations in…
There is growing interest in automating agricultural tasks that require intricate and precise interaction with specialty crops, such as trees and vines. However, developing robotic solutions for crop manipulation remains a difficult…
We merge classical origami concepts with active actuation by designing origami patterns whose panels undergo prescribed metric changes. These metric changes render the system non-Euclidean, inducing non-zero Gaussian curvature at the…
The logarithmic spiral is observed as a common pattern in several living beings across kingdoms and species. Some examples include fern shoots, prehensile tails, and soft limbs like octopus arms and elephant trunks. In the latter cases,…
Natural structural materials, such as bone and wood, can autonomously adapt their mechanical properties in response to loading to prevent failure. They smartly control the addition of material in locations of high stress by utilizing…
We study a rain-powered energy-harvesting device inspired by the natural impact of raindrops on leaves. In nature, a raindrop striking a leaf at high speed causes it to deform and vibrate. Inspired by this, our device uses an elastic beam…
In recent years, there has been a significant effort dedicated to developing efficient, robust, and general human-to-robot handover systems. However, the area of flexible handover in the context of complex and continuous objects' motion…
Rearranging deformable objects is a long-standing challenge in robotic manipulation for the high dimensionality of configuration space and the complex dynamics of deformable objects. We present a novel framework, Graph-Transporter, for…
Humans naturally grasp objects with minimal level required force for stability, whereas robots often rely on rigid, over-squeezing control. To narrow this gap, we propose a human-inspired physics-conditioned tactile method (Phy-Tac) for…
Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…
Graphene's exceptional mechanical properties, including its highest-known stiffness (1 TPa) and strength (100 GPa) have been exploited for various structural applications. However, graphene is also known to be quite brittle, with…
Kirigami offers unique opportunities for guided morphing by leveraging the geometry of the cuts. This work presents inflatable kirigami crawlers created by introducing cut patterns into heat-sealable textiles to achieve locomotion upon…