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Fish locomotion is enabled by fin rays-actively deformable boney rods, which manipulate the fin to facilitate complex interaction with surrounding water and enable propulsion. Replicating the performance and kinematics of the biological fin…

The art and science of folding intricate three-dimensional structures out of paper has occupied artists, designers, engineers, and mathematicians for decades, culminating in the design of deployable structures and mechanical metamaterials.…

Kirigami offers unique opportunities for guided morphing by leveraging the geometry of the cuts. This work presents inflatable kirigami crawlers created by introducing cut patterns into heat-sealable textiles to achieve locomotion upon…

Origami and crumpling are two extreme tools to shrink a 3-D shell. In the shrink/expand process, the former is reversible due to its topological mechanism, while the latter is irreversible because of its random-generated creases. We observe…

OriStitch is a computational fabrication workflow to turn existing flat fabrics into self-folding 3D structures. Users turn fabrics into self-folding sheets by machine embroidering functional threads in specific patterns on fabrics, and…

With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…

Kirigami, the creative art of paper cutting, is a promising paradigm for mechanical metamaterials. However, to make kirigami-inspired structures a reality requires controlling the topology of kirigami to achieve connectivity and rigidity.…

In the paper, we show how scalable, low-cost trunk-like robotic arms can be constructed using only basic 3D-printing equipment and simple electronics. The design is based on uniform, stackable joint modules with three degrees of freedom…

Automatic off-line design is an attractive approach to implementing robot swarms. In this approach, a designer specifies a mission for the swarm, and an optimization process generates suitable control software for the individual robots…

We investigate the graphs formed from the vertices and creases of an origami pattern that can be folded flat along all of its creases. As we show, this is possible for a tree if and only if the internal vertices of the tree all have even…

We study the problem of teaching humanoid robots manipulation skills by imitating from single video demonstrations. We introduce OKAMI, a method that generates a manipulation plan from a single RGB-D video and derives a policy for…

A characterization of real numbers constructible by paper folding.

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…

This work proposes a novel generative design tool for passive grippers -- robot end effectors that have no additional actuation and instead leverage the existing degrees of freedom in a robotic arm to perform grasping tasks. Passive…

Traditional robotic mechanisms contain a series of rigid links connected by rotational joints that provide powered motion, all of which is controlled by a central processor. By contrast, analogous mechanisms found in nature, such as octopus…

We introduce a computational origami problem which we call the segment folding problem: given a set of $n$ line-segments in the plane the aim is to make creases along all segments in the minimum number of folding steps. Note that a folding…

The current research standards in robotics demand general approaches to robots' controllers development. In the assistive robotics domain, the human-machine interaction plays a substantial role. Especially, the humans generate intents that…

Thin-walled structures capable of large, reversible deformation are key to multistable structures, origami, kirigami, and soft robotics. However, conventional fabrication techniques, including 3D printing, casting, and laser cutting, suffer…

Origami-inspired structures with rigid panels now span thick, kirigami, and multi-sheet realizations, making unified kinematic analysis essential. Yet a general method that consolidates their loop constraints has been lacking. We present an…

Origami structures often serve as the building block of mechanical systems due to their rich static and dynamic behaviors. Experimental observation and theoretical modeling of origami dynamics have been reported extensively, whereas the…