Related papers: A non-cubic space-filling modular robot
Deployable polyhedrons can transform between Platonic and Archimedean polyhedrons to meet the demands of various engineering applications. However, the existing design solutions are often with multiple degrees of freedom and complicated…
The moduli space of cubic surfaces in complex projective space is known to be isomorphic to the quotient of the complex 4-ball by a certain arithmetic group. We apply Borcherds' techniques to construct automorphic forms for this group and…
We formulate the problem of generating dense packings of nonoverlapping, non-tiling polyhedra within an adaptive fundamental cell subject to periodic boundary conditions as an optimization problem, which we call the Adaptive Shrinking Cell…
Folding is emerging as a promising manufacturing process to transform flat materials into functional structures, offering efficiency by reducing the need for welding, gluing, and molding, while minimizing waste and enabling automation.…
We construct the first examples of rationally convex surfaces in the complex plane with hyperbolic complex tangencies. In fact, we give two very different types of rationally convex surfaces: those that admit analytic fillings by…
The archimedean solids Cubus simus (snub cube) and Dodecaedron simum (snub dodecahedron) cannot be constructed by ruler and compass. We explain that for general reasons their vertices can be constructed via paper folding on the faces of a…
This paper presents a novel robot-environment interaction in navigation tasks such that robots have neither a representation of their working space nor planning function, instead, an active environment takes charge of these aspects. This is…
Experiment shows that dumbbells, placed inside a tilted hollow cylindrical drum that rotates slowly around its axis, climb uphill by forming dynamically stable pairs, seemingly against the pull of gravity. Analysis of this experiment shows…
In a previous work arXiv:physics/0611108v2, it was shown that the volume spanned by a molecular system in its conformational space can be effectively bounded by a polyhedral cone, this cone is described by means of a simple combinatorial…
For robots to operate in general environments like households, they must be able to perform non-prehensile manipulation actions such as toppling and rolling to manipulate ungraspable objects. However, prior works on non-prehensile…
The field of bio-inspired robotics seeks to create mechanical systems that mimic the designs and concepts used by biological systems. One of the more challenging biological concepts to imitate in mechanical systems is the ability to create…
We introduce Quintessence: a family of burr puzzles based on the geometry and combinatorics of the 120-cell. We discuss the regular polytopes, their symmetries, the dodecahedron as an important special case, the three-sphere, and the…
This study presents a systematic enumeration of spherical ($SO(3)$) type parallel robots' variants using an analytical velocity-level approach. These robots are known for their ability to perform arbitrary rotations around a fixed point,…
This research proposes a novel morphing structure with shells inspired by the movement of pillbugs. Instead of the pillbug body, a loopcoupled mechanism based on slider-crank mechanisms is utilized to achieve the rolling up and spreading…
Many organisms, including various species of spiders and caterpillars, change their shape to switch gaits and adapt to different environments. Recent technological advances, ranging from stretchable circuits to highly deformable soft…
``Rubber'' coated rolling bodies satisfy a no-twist in addition to the no slip satisfied by ``marble'' coated bodies. Rubber rolling has an interesting differential geometric appeal because the geodesic curvatures of the curves on the…
We consider exploration of finite 2D square grid by a metamorphic robotic system consisting of anonymous oblivious modules. The number of possible shapes of a metamorphic robotic system grows as the number of modules increases. The shape of…
We investigate the folding problem that asks if a polygon P can be folded to a polyhedron Q for given P and Q. Recently, an efficient algorithm for this problem has been developed when Q is a box. We extend this idea to regular polyhedra,…
We introduce a large-scale robotic system designed as a lightweight, modular, and reconfigurable structure for lunar applications. The system consists of truss-like robotic triangles formed by continuous inflated fabric tubes routed through…
We define and study a class of finite topological spaces, which model the cell structure of a space obtained by gluing finitely many Euclidean convex polyhedral cells along congruent faces. We call these finite topological spaces,…