Related papers: Origami spring-inspired shape morphing for flexibl…
Origami structures are characterized by a network of folds and vertices joining unbendable plates. For applications to mechanical design and self-folding structures, it is essential to understand the interplay between the set of folds in…
Origami designs offer extreme reconfigurability due to hinge rotation and facet deformation. This can be exploited to make lightweight metamaterials with controlled deployability and tunable properties. Here, we create a family of…
Nematic elastomers dramatically change their shape in response to diverse stimuli including light and heat. In this paper, we provide a systematic framework for the design of complex three dimensional shapes through the actuation of…
Metamaterials achieve unprecedented properties from designed architected structures. However, they are often constructed from a single repeating building block that exhibits monotonic shape changes with single degree of freedom, thereby…
Inspired by the necessity of morphological adaptation in animals, a growing body of work has attempted to expand robot training to encompass physical aspects of a robot's design. However, reinforcement learning methods capable of optimizing…
Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interaction between deformable anchoring…
Legged locomotion is a highly promising but under-researched subfield within the field of soft robotics. The compliant limbs of soft-limbed robots offer numerous benefits, including the ability to regulate impacts, tolerate falls, and…
This study presents a systematic enumeration of spherical ($SO(3)$) type parallel robots' variants using an analytical velocity-level approach. These robots are known for their ability to perform arbitrary rotations around a fixed point,…
A long-standing challenge in impact mitigation is the development of versatile and omnifarious protective structures capable of encompassing a wide spectrum of scenarios, for example, ranging from low-speed pedestrian impacts to high-speed…
Propagating transition fronts, in which local interactions sequentially trigger state changes, are widely observed across natural, biological, and engineered systems. While such propagation has been engineered using energy-driven…
Thin-walled structures capable of large, reversible deformation are key to multistable structures, origami, kirigami, and soft robotics. However, conventional fabrication techniques, including 3D printing, casting, and laser cutting, suffer…
Tensegrity structures are lightweight, can undergo large deformations, and have outstanding robustness capabilities. These unique properties inspired roboticists to investigate their use. However, the morphological design, control,…
Shape morphing magnetic soft materials, composed of magnetic particles in a soft polymer matrix, can transform shapes reversibly, remotely, and rapidly, finding diverse applications in actuators, soft robotics, and biomedical devices. To…
Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel…
Origami is the archetype of a structural material with unusual mechanical properties that arise almost exclusively from the geometry of its constituent folds and forms the basis for mechanical metamaterials with an extreme deformation…
The study of origami-based mechanical metamaterials usually focuses on the kinematics of deployable structures made of an assembly of rigid flat plates connected by hinges. When the elastic response of each panel is taken into account,…
Traditional origami structures can be continuously deformed back to a flat sheet of paper, while traditional kirigami requires glue or seams in order to maintain its rigidity. In the former, non-trivial geometry can be created through…
The leaf-like origami structure was inspired by geometric patterns found in nature, exhibiting unique transitions between open and closed shapes. With a bistable energy landscape, leaf-like origami is able to replicate the autonomous…
Animals can finely modulate their leg stiffness to interact with complex terrains and absorb sudden shocks. In feats like leaping and sprinting, animals demonstrate a sophisticated interplay of opposing muscle pairs that actively modulate…
Origami folded cylinders (origami bellows) have found increasingly sophisticated applications in space flight and medicine. In spite of this interest, a general understanding of the mechanics of an origami folded cylinder has been elusive.…