Related papers: Continuous Design and Reprogramming of Totimorphic…
We propose to use a recently introduced Totimorphic metamaterial for constructing morphable space structures. As a first step to investigate the feasibility of this concept, we present a method for morphing such structures autonomously…
Mechanical metamaterials have continued to offer unprecedented tunability in mechanical properties, but most designs to date have prioritized attaining high stiffness and strength while sacrificing deformability. The emergence of woven…
Replicating and surpassing the autonomy of natural organisms remains a long-standing goal in robotics. Yet most robotic systems have their structure, materials, and control designed separately, in sharp contrast to the co-evolution in…
We present a new framework for the simultaneous optimiziation of both the topology as well as the relative density grading of cellular structures and materials, also known as lattices. Due to manufacturing constraints, the optimization…
Robotic automation has transformed scientific workflows in domains such as chemistry and materials science, yet free-space optics, which is a high precision domain, remains largely manual. Optical systems impose strict spatial and angular…
The purpose of this work is two-fold. First, we introduce an efficient homogenization-based approach to perform topology optimization of coated structures with orthotropic infill material. By making use of the relaxed design space, we can…
This paper introduces a heuristic topology optimization framework for thin-walled, 2D extruded lattice structures subject to complex high-speed loading. The proposed framework optimizes the wall thickness distribution in the lattice cross…
Inspired by natural cellular materials such as trabecular bone, lattice structures have been developed as a new type of lightweight material. In this paper we present a novel method to design lattice structures that conform with both the…
Cellular solids and micro-lattices are a class of lightweight architected materials that have been established for their unique mechanical, thermal, and acoustic properties. It has been shown that by tuning material architecture, a…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-force manipulation, shape holding, and navigation in…
This paper presents an end-to-end framework for robust structure/control optimization of an industrial benchmark. When dealing with space structures, a reduction of the spacecraft mass is paramount to minimize the mission cost and maximize…
Dynamic shape-morphing soft materials systems are ubiquitous in living organisms; they are also of rapidly increasing relevance to emerging technologies in soft machines, flexible electronics, and smart medicines. Soft matter equipped with…
Architecting mechanisms of damage in metamaterials by leveraging lattice topology and geometry poses a vital yet complex challenge, essential for engineering desirable mechanical responses. Of these metamaterials, Maxwell lattices, which…
Computer simulations serve as powerful tools for scientists and engineers to gain insights into complex systems. Less costly than physical experiments, computer experiments sometimes involve large number of trials. Conventional design…
We study a class of rearrangement problems under a novel pick-n-swap prehensile manipulation model, in which a robotic manipulator, capable of carrying an item and making item swaps, is tasked to sort items stored in lattices of variable…
We present a stochastic algorithm for constructing a topologically disordered (i.e., non-regular) spatial lattice with nodes of constant coordination number, the CC lattice. The construction procedure dramatically improves on an earlier…
The architecture of mechanical metamaterialsis designed to harness geometry, non-linearity and topology to obtain advanced functionalities such as shape morphing, programmability and one-way propagation. While a purely geometric framework…
Modular reconfigurable manipulators enable quick adaptation and versatility to address different application environments and tailor to the specific requirements of the tasks. Task performance significantly depends on the manipulator's…
Topological photonics promotes a novel approach to resilient light manipulation by exploiting spatio-temporal symmetries of the system and dual symmetry of electromagnetic field. Various prospective device applications pose the need to…