Related papers: Adaptive Hierarchical Origami Metastructures
In this paper we propose FlexHRC+, a hierarchical human-robot cooperation architecture designed to provide collaborative robots with an extended degree of autonomy when supporting human operators in high-variability shop-floor tasks. The…
Controlling the connectivity and rigidity of kirigami, i.e. the process of cutting paper to deploy it into an articulated system, is critical in the manifestations of kirigami in art, science and technology, as it provides the resulting…
The nonlinear mechanical response of soft materials and slender structures is purposefully harnessed to program functions by design in soft robotic actuators, such as sequencing, amplified response, fast energy release, etc. However,…
We demonstrate hierarchical assembly of plasmonic toroidal metamolecules, which exhibit tailored optical activity in the visible spectral range. Each metamolecule consists of four identical origami-templated helical building blocks. Such…
Geometrical frustration induced anisotropy and inhomogeneity are explored to achieve unique properties of metamaterials that set them apart from conventional materials. According to Neumann's principle, to achieve anisotropic responses, the…
Origami designs and structures have been widely used in many fields, such as morphing structures, robotics, and metamaterials. However, the design and fabrication of origami structures rely on human experiences and skills, which are both…
Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…
Chiral responses in electromagnetic metasurfaces are typically categorized as extrinsic, resulting from asymmetric interactions between the structure and incident waves, and intrinsic, arising from three-dimensional symmetry breaking of the…
The principles underlying the art of origami paper folding can be applied to design sophisticated metamaterials with unique mechanical properties. By exploiting the flat crease patterns that determine the dynamic folding and unfolding…
Multiple domains like vision, natural language, and audio are witnessing tremendous progress by leveraging Transformers for large scale pre-training followed by task specific fine tuning. In contrast, in robotics we primarily train a single…
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…
Origami inspired architectures offer a powerful route toward lightweight, reconfigurable, and programmable robotic systems. Yet, a unified mechanics framework capable of seamlessly bridging rigid folding, elastic deformation, and stability…
Rigid foldability allows an origami pattern to fold about crease lines without twisting or stretching component panels. It enables folding of rigid materials, facilitating the design of foldable structures. Recent study shows that rigid…
Honeycomb-like microstructures have been shown to exhibit local elastic buckling under compression, with three possible geometric buckling modes, or pattern transformations. The individual pattern transformations, and consequently also…
Many organisms leverage an interplay between shape and activity to generate motion and adapt to their environment. Embedding such feedback into synthetic microrobots could eliminate the need for sensors, software, and actuators, yet current…
Programmable folding of elastic sheets typically relies on predefined flexible creases or active materials-enabled hinges, which lack intrinsic bistability and limit reprogrammability within a single structure. Here, we present a…
This study explores the use of origami composite structures as active aerodynamic control surfaces. Towards this goal, two origami concepts were designed leveraging a combination of analytical and finite element modeling, and computational…
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…
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…
We describe a combined experimental and theoretical investigation of shape-morphing structures assembled by actuating composite (Janus) fibers, taking into account multiple relevant factors affecting shape transformations, such as strain…