Related papers: Rapid design of fully soft deployable structures v…
We present a sampling-based approach to reasoning about the caging-based manipulation of rigid and a simplified class of deformable 3D objects subject to energy constraints. Towards this end, we propose the notion of soft fixtures extending…
Origami, the traditional paper-folding art, has inspired the modern design of numerous flexible structures in science and engineering. In particular, origami structures with different physical properties have been studied and utilized for…
An efficient way to introduce elastic energy that can bias an origami structure toward desired shapes is to allow curved tiles between the creases. The bending of the tiles supplies the energy and the tiles themselves may have additional…
This study examines a biology-inspired approach of using reconfigurable articulation to reduce the control requirement for soft robotic arms. We construct a robotic arm by assembling Kresling origami modules that exhibit predictable…
Harnessing the rich nonlinear dynamics of highly-deformable materials has the potential to unlock the next generation of functional smart materials and devices. However, unlocking such potential requires effective strategies to spatially…
Flexible slender structures such as rods, ribbons, plates, and shells exhibit extreme nonlinear responses bending, twisting, buckling, wrinkling, and self contact, that defy conventional simulation frameworks. Discrete Differential Geometry…
The use of origami in engineering has significantly expanded in recent years, spanning deployable structures across scales, folding robotics, and mechanical metamaterials. However, finding foldable paths can be a formidable task as the…
Object manipulation is a fundamental challenge in robotics, where systems must balance trade-offs among manipulation capabilities, system complexity, and throughput. Distributed manipulator systems (DMS) use the coordinated motion of…
There is a growing mechanics literature concerning the macroscopic properties of mechanism-based mechanical metamaterials. This amounts mathematically to a homogenization problem involving nonlinear elasticity. A key goal is to identify the…
Recent advances in meta-optics have enabled diverse functionalities in compact optical devices; however, conventional forward design approaches become inadequate as device complexity and scale grow. Inverse design offers a powerful…
Non-Euclidean origami is a promising technique for designing multistable deployable structures folded from nonplanar developable surfaces. The impossibility of flat foldability inherent to non-Euclidean origami results in two disconnected…
The accelerated inverse design of complex material properties - such as identifying a material with a given stress-strain response over a nonlinear deformation path - holds great potential for addressing challenges from soft robotics to…
Origami and Kirigami, the famous Japanese art forms of paper folding and cutting, have inspired the design of novel materials & structures utilizing their geometry. In this article, we explore the geometry of the lesser known popup art,…
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…
Origami metamaterial design enables drastic qualitative changes in the response properties of a thin sheet via the addition of a repeating pattern of folds based around a rigid folding motion. Known also as a mechanism, this folding motion…
Self-folding is an emerging paradigm for the inverse design of three-dimensional structures. While most efforts have concentrated on the shape of the net, our approach introduces a new design dimension-bond specificity between the edges. We…
Deformable object manipulation remains a key challenge in developing autonomous robotic systems that can be successfully deployed in real-world scenarios. In this work, we explore the challenges of deformable object manipulation through the…
The field of rigid origami concerns the folding of stiff, inelastic plates of material along crease lines that act like hinges and form a straight-line planar graph, called the crease pattern of the origami. Crease pattern vertices in the…
4D printing empowers 3D printed structures made of hydrogels, liquid crystals or shape memory polymers, with reversible morphing capabilities in response to an external stimulus. To apply reversible shape-change to stiff lightweight…
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…