Related papers: Origami spring-inspired shape morphing for flexibl…
Soft robots, compared to rigid robots, possess inherent advantages, including higher degrees of freedom, compliance, and enhanced safety, which have contributed to their increasing application across various fields. Among these benefits,…
Folding mechanisms are zero elastic energy motions essential to the deployment of origami, linkages, reconfigurable metamaterials and robotic structures. In this paper, we determine the fate of folding mechanisms when such structures are…
Origami describes rules for creating folded structures from patterns on a flat sheet, but does not prescribe how patterns can be designed to fit target shapes. Here, starting from the simplest periodic origami pattern that yields one…
Origami-inspired self-deployable structures offer lightweight, compact, and autonomous deployment capabilities, making them highly attractive for aerospace and defence applications, such as solar panels, antennas, and reflector systems.…
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…
Evolutionary robotics aims to automatically design autonomous adaptive morphological robots that can evolve to accomplish a specific task while adapting to environmental changes. Soft robotics have demonstrated the feasibility of…
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…
The purpose of this research is to design, fabricate and test a tendon driven a continuum soft robot with three modular segments, each of which has a tunable stiffness enabled by layer jamming technology. Compared with previous studies, the…
Kirigami metamaterials dramatically change their shape through a coordinated motion of nearly rigid panels and flexible slits. Here, we study a model system for mechanism-based planar kirigami featuring periodic patterns of quadrilateral…
Soft robots are inherently compliant and have a strong potential to realize human-friendly and safe robots. Despite continued research highlighting the potential of soft robots, they remain largely confined to laboratory settings. In this…
Rigid origami is examined from the perspective of rigidity theory. First and second order rigidity are defined from local differential analysis of the consistency constraint; while the static rigidity and prestress stability are defined…
Kirigami-inspired designs can enable self-folding three-dimensional materials from flat, two-dimensional sheets. Hierarchical designs of connected levels increase the diversity of possible target structures, yet they can lead to longer…
Structures and/or materials with engineered functionality, capable of achieving targeted mechanical responses reacting to changes in external excitation, have various potential engineering applications, e.g. aerospace, oceanographic…
Continuum robots (CRs), owing to their compact structure, inherent compliance, and flexible deformation, have been widely applied in various fields. By coordinating multiple CRs to form collaborative continuum robots (CCRs), task…
Shape-morphing structures possess the ability to change their shapes from one state to another, and therefore, offer great potential for a broad range of applications. A typical paradigm of morphing is transforming from an initial…
The aim of this article is to introduce a new methodology for constructing morphings between shapes that have identical topology. The morphings are obtained by deforming a reference shape, through the resolution of a sequence of linear…
The recent development of modular origami structures has ushered in a new era for active metamaterials with multiple degrees of freedom (multi-DOF). Notably, no systematic inverse design approach for volumetric modular origami structures…
This work harnesses interpretable machine learning methods to address the challenging inverse design problem of origami-inspired systems. We show that a decision tree-random forest method is particularly suitable for fitting origami…
Configurable robots are made up of robotic modules that can be assembled or can configure themselves into multiple robot configurations. In this research plan, a method for upper-body rehabilitation will be discussed in the form of a…
For origami structures, perforating or cutting slits along creases is an effective method to define fold lines and alleviate stress concentrations at vertices. In this letter we show numerically and experimentally that for…