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While isotropic in-plane swelling problems for thin elastic sheets have been studied extensively in recent years, many shape-programmable materials, including nematic solids and 3D-printed structures, are anisotropic, as are most industrial…
This document is on considerations and findings on modelling of spinning beams. Spinning has been proposed for stabilizing beams against perturbations notably risen by non-linear space charge forces, see [Y.-L. Cheon et al., Effects of beam…
Amorphous materials of homogeneous structures usually suffer from nonuniform deformation under shear, which can develop into shear localization and eventually destructive shear band. One approach to tackle this issue is to introduce an…
The anisotropy of wood within the radial-tangential (RT) growth plane has a major influence on the cracking behavior perpendicular to grain. Within the scope of this work, a two-dimensional discrete element model is developed, consisting of…
The microscopic mechanism by which amorphous solids yield plastically under an externally applied stress or deformation has remained elusive in spite of enormous research activity in recent years. Most approaches have attempted to identify…
We study how crack buckling affects stress and strain in a thin sheet with random disorder. The sheet is modeled as an elastic lattice of beams where each of the beams have individual thresholds for breaking. A statistical distribution with…
The physics of membranes, a classic subject, acquires new momentum from two-dimensional (2D) materials multilayers. This work reports the surprising results emerged during a theoretical study of equilibrium geometry of bilayers as…
Robotic materials are multi-robot systems formulated to leverage the low-order computation and actuation of the constituents to manipulate the high-order behavior of the entire material. We study the behaviors of ensembles composed of smart…
Unconventional magnetism represents a paradigm shift in condensed matter physics, effectively bridging the fast, high-density advantages of antiferromagnets with the facile read-write capability of ferromagnets. Recent developments in spin…
This paper presents a combined task and motion planner for a robot arm to carry out 3D metal wire curving tasks by collaborating with a bending machine. We assume a collaborative robot that is safe to work in a human environment but has a…
Tendrils coil their shape to anchor the plant to supporting structures, allowing vertical growth toward light. Although climbing plants have been studied for a long time, extracting information regarding the relationship between the…
Filamentous bio-materials such as fibrin or collagen networks exhibit an enormous stiffening of their elastic moduli upon large deformations. This pronounced nonlinear behavior stems from a significant separation between the stiffnesses…
We present experiments on the dynamic buckling and fragmentation of slender rods axially impacted by a projectile. By combining the results of Saint-Venant and elastic beam theory, we derive a preferred wavelength lambda for the buckling…
In the experiments on stress-induced phase transitions in SMA strips, several interesting instability phenomena have been observed, including a necking-type instability, a shear-type instability and an orientation instability. By using the…
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…
This work studies how parametric uncertainties affect the cooperative manipulation of a cable-suspended beam-shaped load by means of two aerial robots not explicitly communicating with each other. In particular, the work sheds light on the…
Dynamic buckling behavior of a column (rod, beam) under constant rate compression is considered. The buckling is caused by prescribed motion of column ends toward each other with constant velocity. Simple model with one degree of freedom…
Soft actuators have attracted a great deal of interest in the context of rehabilitative and assistive robots for increasing safety and lowering costs as compared to rigid-body robotic systems. During actuation, soft actuators experience…
Most microorganisms use hair-like cilia with asymmetric beating to perform vital bio-physical processes. In this paper, we demonstrate a novel fabrication method for creating magnetic artificial cilia capable of such biologically inspired…
This work tries to contribute to the design of legged robots with capabilities boosted through thruster-assisted locomotion. Our long-term goal is the development of robots capable of negotiating unstructured environments, including land…