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Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
Adaptation to various scene configurations and object properties, stability and dexterity in robotic grasping manipulation is far from explored. This work presents an origami-based shape morphing fingertip design to actively tackle the…
The recent development of modular origami structures has ushered in a new era for active metamaterials with multiple degrees of freedom (multi-DOF). Notably, no systematic inverse design approach for volumetric modular origami structures…
We present a theorem on the compatibility upon deployment of kirigami tessellations restricted on a spherical surface with patterned slits forming freeform quadrilateral meshes. We show that the spherical kirigami tessellations have either…
Origami metamaterials are known to display highly tunable Poisson's ratio values depending on their folded state. Most studies on the Poisson effects in deployable origami tessellations are restricted to theory and simulation. Experimental…
Here we describe an ultra-low-cost origami-based approach for large-scale manufacturing of microscopes, specifically demonstrating brightfield, darkfield, and fluorescence microscopes. Merging principles of optical design with origami…
The ability to transform a flat sheet into a complex three-dimensional structure is a fundamental test of physical intelligence. Unlike cloth manipulation, origami is governed by strict geometric axioms and hard kinematic constraints, where…
Kirigami tessellations, regular planar patterns formed by cutting flat, thin sheets, have attracted recent scientific interest for their rich geometries, surprising material properties and promise for technologies. Here we pose and solve…
Kirigami is an increasingly useful fabrication method to produce shape-programmable metamaterial structures. However, inverse design remains difficult because deployment is nonlinear, and feasible cut layouts must satisfy discrete…
Soft robotics gripper have shown great promise in handling fragile and geometrically complex objects. However, most existing solutions rely on bulky actuators, complex control strategies, or advanced tactile sensing to achieve stable and…
Building AI systems that can plan, act, and create in the physical world requires more than pattern recognition. Such systems must understand the causal mechanisms and constraints governing physical processes in order to guide sequential…
Rigidly and flat-foldable quadrilateral mesh origami is the class of quadrilateral mesh crease patterns with one fundamental property: the patterns can be folded from flat to fully-folded flat by a continuous one-parameter family of…
Airships, best recognized for their unique quality of payload/energy ratio, present a fascinating challenge for the field of engineering. Their construction and operation require a delicate balance of materials and rules, making them a…
Origami-inspired robots with multiple advantages, such as being lightweight, requiring less assembly, and exhibiting exceptional deformability, have received substantial and sustained attention. However, the existing origami-inspired robots…
A new continuous model of shearable rod, subject to large elastic deformation, is derived from nonlinear homogenization of a one-dimensional periodic microstructured chain. As particular cases, the governing equations reduce to the Euler…
A folded disk is bistable, as it can be popped through to an inverted state with elastic energy localized in a small, highly-deformed region on the fold. Cutting out this singularity relaxes the surrounding material and leads to a loss of…
Next generation microwave communications systems face several challenges, particularly from congested communications frequencies and complex propagation environments. Taking inspiration from the Yagi-Uda antenna, we present, and…
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…
Self-assembly of complex and functional materials remains a grand challenge in soft material science. Efficient assembly depends on a delicate balance between thermodynamic and kinetic effects, requiring fine-tuning affinities and…
Electro-thermally actuated origami provides a novel method for creating 3-D systems with advanced morphing and functional capabilities. However, it is currently difficult to simulate the multi-physical behavior of such systems because the…