Related papers: MuA-Ori: Multimodal Actuated Origami
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…
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…
The ancient paper craft of kirigami has recently emerged as a potential tool for the design of functional materials. Inspired by the kirigami concept, we propose a class of kirigami-based metamaterials whose electromagnetic functionalities…
Origami-based structures play an important role in the realization of deployable mechanisms and unique mechanical properties via programmable deformation by folding. Among origami-based structures, tessellation by the coupling of origami…
Manipulating articulated objects requires multiple robot arms in general. It is challenging to enable multiple robot arms to collaboratively complete manipulation tasks on articulated objects. In this paper, we present $\textbf{V-MAO}$, a…
Transitions of multistability in structures have been exploited for various functions and applications, such as spectral gap tuning, impact energy trapping, and wave steering. However, a fundamental and comprehensive understanding of the…
Multi-modal fusion of sensors is a commonly used approach to enhance the performance of odometry estimation, which is also a fundamental module for mobile robots. However, the question of \textit{how to perform fusion among different…
Soft robotic actuators are safe and adaptable devices with inherent compliance, which makes them attractive for manipulating delicate and complex objects. Researchers have integrated stiff materials into soft actuators to increase their…
Robotic Manipulation Surfaces (RMS) manipulate objects by deforming the surface on which they rest, offering safe, parallel handling of diverse and fragile items. However, existing designs face a fundamental tradeoff: achieving fine control…
Advanced robotic manipulation of deformable, volumetric objects remains one of the greatest challenges due to their pliancy, frailness, variability, and uncertainties during interaction. Motivated by these challenges, this article…
Modular small-scale robots offer the potential for on-demand assembly and disassembly, enabling task-specific adaptation in dynamic and constrained environments. However, existing modular magnetic platforms often depend on workspace…
A large family of periodic planar non-linear bimode metamaterials are constructed from rigid bars and pivots. They are affine materials in the sense that their macroscopic deformations are only affine deformations: at large distances any…
Continuum and soft robots can leverage complex actuator shapes to take on useful shapes while actuating only a few of their many degrees of freedom. Continuum robots that also grow increase the range of potential shapes that can be actuated…
Miura-ori is well-known for its capability of flatly folding a sheet of paper through a tessellated crease pattern made of repeating parallelograms. Many potential applications have been based on the Miura-ori and its primary variations.…
Automating contact-rich manipulation of viscoelastic objects with rigid robots faces challenges including dynamic parameter mismatches, unstable contact oscillations, and spatiotemporal force-deformation coupling. In our prior work, a…
The ability to efficiently simulate a variety of interacting quantum systems on a single device is an overarching goal for digital and analog quantum simulators. In circuit quantum electrodynamical systems, strongly nonlinear…
Controlling the deformation of flexible objects is challenging due to their non-linear dynamics and high-dimensional configuration space. This work presents a differentiable Material Point Method (MPM) simulator targeted at control…
Simulating deformable objects under rich interactions remains a fundamental challenge for real-to-sim robot manipulation, with dynamics jointly driven by environmental effects and robot actions. Existing simulators rely on predefined…
Translating human intent into robot commands is crucial for the future of service robots in an aging society. Existing Human-Robot Interaction (HRI) systems relying on gestures or verbal commands are impractical for the elderly due to…
Origami metamaterials typically consist of folded sheets with periodic patterns, conferring them with remarkable mechanical properties. In the context of Continuum Mechanics, the majority of existing predictive methods are mechanism analogs…