Related papers: Rigidity control of general origami structures
Designing a robot or structure that can fold itself into a target shape is a process that involves challenges originated from multiple sources. For example, the designer of rigid self-folding robots must consider foldability from geometric…
This study examines a biology-inspired approach of using reconfigurable articulation to reduce the control requirement for soft robotic arms. We construct a robotic arm by assembling Kresling origami modules that exhibit predictable…
We consider the zero-energy deformations of periodic origami sheets with generic crease patterns. Using a mapping from the linear folding motions of such sheets to force-bearing modes in conjunction with the Maxwell-Calladine index theorem…
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…
While the grasping capability of robotic grippers has shown significant development, the ability to manipulate objects within the hand is still limited. One explanation for this limitation is the lack of controlled contact variation between…
We introduce a new class of thin flexible structures that morph from a flat shape into prescribed 3D shapes without an external stimulus such as mechanical loads or heat. To achieve control over the target shape, two different concepts are…
Kirigami-inspired designs can enable self-folding three-dimensional materials from flat, two-dimensional sheets. Hierarchical designs of connected levels increase the diversity of possible target structures, yet they can lead to longer…
Shape-morphing capabilities are crucial for enabling multifunctionality in both biological and artificial systems. Various strategies for shape morphing have been proposed for applications in metamaterials and robotics. However, few of…
We propose a novel computational framework for modeling and simulating origami structures. In this framework, bilinear solid-shell elements are employed to model the origami panels while crease folding is considered through the angle…
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…
An efficient way to introduce elastic energy that can bias an origami structure toward desired shapes is to allow curved tiles between the creases. The bending of the tiles supplies the energy and the tiles themselves may have additional…
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…
Soft deployable structures - unlike conventional piecewise rigid deployables based on hinges and springs - can assume intricate 3-D shapes, thereby enabling transformative technologies in soft robotics, shape-morphing architecture, and…
The study of origami-based mechanical metamaterials usually focuses on the kinematics of deployable structures made of an assembly of rigid flat plates connected by hinges. When the elastic response of each panel is taken into account,…
Origami-inspired robotic grippers have shown promising potential for object manipulation tasks due to their compact volume and mechanical flexibility. However, robust capture of objects with random shapes in dynamic working environments…
In this paper, we will show methods to interpret some rigid origami with higher degree vertices as the limit case of structures with degree-4 supplementary angle vertices. The interpretation is based on separating each crease into two…
We introduce the study of forcing sets in mathematical origami. The origami material folds flat along straight line segments called creases, each of which is assigned a folding direction of mountain or valley. A subset $F$ of creases is…
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…
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…
Shape morphing that transforms morphologies in response to stimuli is crucial for future multifunctional systems. While kirigami holds great promise in enhancing shape-morphing, existing designs primarily focus on kinematics and overlook…