Related papers: MuA-Ori: Multimodal Actuated Origami
A neural network based flexible object manipulation system for a humanoid robot on FPGA is proposed. Although the manipulations of flexible objects using robots attract ever increasing attention since these tasks are the basic and essential…
Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…
In this paper we document a novel laboratory experimental platform for non-contact planar manipulation (positioning) of millimeter-scale objects using acoustic pressure. The manipulated objects are either floating on a water surface or…
Functional magnetic composites capable of large deformation, load bearing, and multifunctional motion are essential for next-generation adaptive soft robots. Here, we present muscle-inspired magnetic actuators (MMA), additively manufactured…
The last two decades have seen the emergence and steady development of tangible user interfaces. While most of these interfaces are applied for input - with output still on traditional computer screens - the goal of programmable matter and…
Limbless creatures can crawl on flat surfaces by deforming their bodies and interacting with asperities on the ground, offering a biological blueprint for designing efficient limbless robots. Inspired by this natural locomotion, we present…
We present and test the integration of a static orbital angular momentum mode multiplexer with a dynamical geometric-phase optical element enabling on-demand spin-controlled angular momentum multiplexing. A diffractive optics multiplexer…
Inflated-beam soft robots, such as tip-everting vine robots, can control curvature by contracting one beam side via pneumatic actuation. This work develops a general finite element modeling approach to characterize their bending. The model…
In this paper, we consider an aerial reconfigurable intelligent surface (ARIS)-assisted wireless network, where multiple unmanned aerial vehicles (UAVs) collect data from ground users (GUs) by using the non-orthogonal multiple access (NOMA)…
Two-dimensional (2D) phase-change materials (PCMs) with moderate transition barriers and distinctly contrasting properties are highly desirable for multifunctional devices, yet such systems remain scarce. Using first-principles…
In this paper, we study modulation instabilities (MI) in a one-dimensional chain configuration of a flexible mechanical metamaterial (flexMM). Using the lumped element approach, flexMMs can be modeled by a coupled system of discrete…
Active metamaterials are a type of metamaterial with tunable properties enabled by structural reconfigurations. Existing active metamaterials often achieve only a limited number of structural reconfigurations upon the application of an…
Distributed Manipulator Systems, composed of arrays of robotic actuators necessitate dense actuator arrays to effectively manipulate small objects. This paper presents a system composed of modular 3-DoF robotic tiles interconnected by a…
In this work, we present a multimodal system for active robot-object interaction using laser-based SLAM, RGBD images, and contact sensors. In the object manipulation task, the robot adjusts its initial pose with respect to obstacles and…
Wearable robotic hand rehabilitation devices can allow greater freedom and flexibility than their workstation-like counterparts. However, the field is generally lacking effective methods by which the user can operate the device: such…
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…
Building AI systems that can plan, act, and create in the physical world requires more than pattern recognition. Such systems must understand the causal mechanisms and constraints governing physical processes in order to guide sequential…
Robot designs can take many inspirations from nature, where there are many examples of highly resilient and fault-tolerant locomotion strategies to navigate complex terrains by using multi-functional appendages. For example, Chukar and…
This paper introduces for the first time the design, modelling, and control of a novel morphing multi-rotor Unmanned Aerial Vehicle (UAV) that we call the OmniMorph. The morphing ability allows the selection of the configuration that…
Nematic elastomers and glasses are solids that display spontaneous distortion under external stimuli. Recent advances in the synthesis of sheets with controlled heterogeneities have enabled their actuation into non-trivial shapes with…