Related papers: Hyper Yoshimura: How a slight tweak on a classical…
Foldable robots have been an active area of robotics research due to their high volume-to-mass ratio, easy packability, and shape adaptability. For locomotion, previously developed foldable robots have either embedded linear actuators in,…
We study, experimentally and theoretically, the mechanical response of sheet materials on which line cracks or cuts are arranged in a simple pattern. Such sheet materials, often called kirigami (the Japanese words, kiri and gami, stand for…
The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…
As we enter the age of designer matter - where objects can morph and change shape on command - what tools do we need to create shape-shifting structures? At the heart of an elastic deformation is the combination of dilation and distortion,…
Legged manipulators extend robotic capabilities beyond static manipulation by integrating agile locomotion with versatile arm control. However, achieving precise manipulation while maintaining coordinated locomotion remains a major…
Making kirigami-inspired cuts into a sheet has been shown to be an effective way of designing stretchable materials with metamorphic properties where the 2D shape can transform into complex 3D shapes. However, finding the optimal solutions…
In this paper, we explore whether a robot can learn to regrasp a diverse set of objects to achieve various desired grasp poses. Regrasping is needed whenever a robot's current grasp pose fails to perform desired manipulation tasks. Endowing…
We present the design, characterization, and experimental results for a new modular robotic system for programmable self-assembly. The proposed system uses the Hybrid Cube Model (HCM), which integrates classical features from both…
Orthogonal array, a classical and effective tool for collecting data, has been flourished with its applications in modern computer experiments and engineering statistics. Driven by the wide use of computer experiments with both qualitative…
Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by…
The design process and complexity of existing safety controls are heavily determined by the geometrical properties of the environment, which affects the proof of convergence, design scalability, performance robustness, and numerical…
Origami offers a promising alternative for designing innovative soft robotic actuators. While features of origami, such as bi-directional motion and structural anisotropy, haven't been extensively explored in the past, this letter presents…
Symmetry is a central organizing principle in natural systems, yet its use as a unifying design strategy in robotics has largely remained limited to geometric form. We show that symmetry can instead be leveraged at the level of dynamic…
Ring origami, consisting of closed-loop rods, is a class of shape-morphing structures that undergo shape transformation through folding enabled by snap-buckling instabilities, referred to as snap-folding instabilities. Previous studies have…
We establish a novel local-global framework for analyzing rigid origami mechanics through cosheaf homology, proving the equivalence of truss and hinge constraint systems via an induced linear isomorphism. This approach applies to origami…
Mechanism - collections of rigid elements coupled by perfect hinges which exhibit a zero-energy motion -- motivate the design of a variety of mechanical metamaterials. We significantly enlarge this design space by considering…
A concept of a planar modular mechanical metamaterial inspired by the nature's principle of local adaptivity is proposed. The metamaterial consists of identical pieces similar to jigsaw puzzle tiles. Their rotation within assembly provides…
Topological mechanical metamaterials have been widely explored for their boundary states, which can be robustly isolated or transported in a controlled manner. However, such systems often require pre-configured design or complex active…
Object rearrangement is a widely-applicable and challenging task for robots. Geometric constraints must be carefully examined to avoid collisions and combinatorial issues arise as the number of objects increases. This work studies the…
Origami-based design holds promise for developing materials whose mechanical properties are tuned by crease patterns introduced to thin sheets. Although there has been heuristic developments in constructing patterns with desirable…