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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…
Despite advances in localization and navigation, aerial robots inevitably remain susceptible to accidents and collisions. In this work, we propose a passive foldable airframe as a protective mechanism for a small aerial robot. A foldable…
Origami inspired architectures offer a powerful route toward lightweight, reconfigurable, and programmable robotic systems. Yet, a unified mechanics framework capable of seamlessly bridging rigid folding, elastic deformation, and stability…
Liquid crystal elastomers represent a novel class of programmable shape-transforming materials whose shape change trajectory is encoded in the material's nematic director field. Using three-dimensional nonlinear finite element…
Foldable robots have been an active area of robotics research due to their high volume-to-mass ratio, easy packability, and shape adaptability. For locomotion, previously developed foldable robots have either embedded linear actuators in,…
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…
Consider the problem of planning collision-free motion of $n$ objects in the plane movable through contact with a robot that can autonomously translate in the plane and that can move a maximum of $m \leq n$ objects simultaneously. This…
Robotic manipulation of deformable objects remains a challenging task. One such task is folding a garment autonomously. Given start and end folding positions, what is an optimal trajectory to move the robotic arm to fold a garment? Certain…
Manipulators can be added to legged robots, allowing them to interact with and change their environment. Legged mobile manipulation planners must consider how contact forces generated by these manipulators affect the system. Current…
Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…
Soft deployable structures - unlike conventional piecewise rigid deployables based on hinges and springs - can assume intricate 3-D shapes, thereby enabling transformative technologies in soft robotics, shape-morphing architecture, and…
Soft-growing robots are innovative devices that feature plant-inspired growth to navigate environments. Thanks to their embodied intelligence of adapting to their surroundings and the latest innovation in actuation and manufacturing, it is…
Origami structures enabled by folding and unfolding can create complex 3D shapes. However, even a small 3D shape can have large 2D unfoldings. The huge initial dimension of the 2D flattened structure makes fabrication difficult, and defeats…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…
Planning for robotic manipulation requires reasoning about the changes a robot can affect on objects. When such interactions can be modelled analytically, as in domains with rigid objects, efficient planning algorithms exist. However, in…
The geometric, aesthetic, and mathematical elegance of origami is being recognized as a powerful pathway to self-assembly of micro and nano-scale machines with programmable mechanical properties. The typical approach to designing the…
Origami offers a promising alternative for designing innovative soft robotic actuators. While features of origami, such as bi-directional motion and structural anisotropy, haven't been extensively explored in the past, this letter presents…
Adaptation to various scene configurations and object properties, stability and dexterity in robotic grasping manipulation is far from explored. This work presents an origami-based shape morphing fingertip design to actively tackle the…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…