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Neuromorphic control is receiving growing attention due to the multifaceted advantages it brings over more classical control approaches, including: sparse and on-demand sensing, information transmission, and actuation; energy-efficient…
Robot co-design, where the morphology of a robot is optimized jointly with a learned policy to solve a specific task, is an emerging area of research. It holds particular promise for soft robots, which are amenable to novel manufacturing…
Existing Civil Engineering structures have limited capability to adapt their configurations for new functions, non-stationary environments, or future reuse. Although origami principles provide capabilities of dense packaging and…
We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected inverse dynamics framework. We use the constrained component…
Origami structures have been proposed as a means of creating three-dimensional structures from the micro- to the macroscale, and as a means of fabricating mechanical metamaterials. The design of such structures requires a deep understanding…
Internal computational models of physical bodies are fundamental to the ability of robots and animals alike to plan and control their actions. These "self-models" allow robots to consider outcomes of multiple possible future actions,…
Recently, inflatable elements integrated in robotics systems have enabled complex motions as a result of simple inputs. However, these fluidic actuators typically exhibit unimodal deformation upon inflation. Here, we present a new design…
On-demand vibration mitigation in a mechanical system needs the suitable design of multiscale metastructures, involving complex unit cells. In this study, immersing in the world of patterns and examining the structural details of some…
For millions of adults with mobility limitations, eating meals is a daily challenge. A variety of robotic systems have been developed to address this societal need. Unfortunately, end-user adoption of robot-assisted feeding is limited, in…
We study the three-dimensional equilibrium shape of a shell formed by a deployed accordion-like origami, made from an elastic sheet decorated by a series of parallel creases crossed by a central longitudinal crease. Surprisingly, while the…
Origami structures are characterized by a network of folds and vertices joining unbendable plates. For applications to mechanical design and self-folding structures, it is essential to understand the interplay between the set of folds in…
We present a new algorithm to design lightweight cellular materials with required properties in a multi-physics context. In particular, we focus on a thermo-mechanical setting, by promoting the design of unit cells characterized both by an…
In recent years, the concept of kirigami has been used in creating deployable structures for various scientific and technological applications. While high-fidelity Finite Element Analysis (FEA) is the standard for analyzing stress…
The incorporation of appropriate inductive bias plays a critical role in learning dynamics from data. A growing body of work has been exploring ways to enforce energy conservation in the learned dynamics by encoding Lagrangian or…
Origami structures have been widely explored in robotics due to their many potential advantages. Origami robots can be very compact, as well as cheap and efficient to produce. In particular, they can be constructed in a flat format using…
The field of magnonics offers a new type of low-power information processing, in which magnons, the quanta of spin waves, carry and process data instead of electrons. Many magnonic devices were demonstrated recently, but the development of…
Mechanical metamaterials owe their extraordinary properties and functionalities to their micro-/nanoscale design of which shape, including both geometry and topology, is perhaps the most important aspect. 4D printing enables programmed,…
We present a geometric framework for the inverse design of smart woven fabrics composed of non-uniformly shrinking threads. A sufficiently tight weaving structure imposes strong local criteria on the material deformation and reduces the…
Two-dimensional (2D) origami tessellations such as the Miura-ori are often generalized to build three-dimensional (3D) architected materials with sandwich or cellular structures. However, such 3D blocks are densely packed with continuity of…
Magnetic response soft robot realizes programmable shape regulation with the help of magnetic field and produces various actions. The shape control of magnetic soft robot is based on the magnetic anisotropy caused by the orderly…