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Snap-fits are versatile mechanical designs in industrial products, which enable the repeated assembling and disassembling of two solid parts. This important property is attributed to a fine balance between geometry, friction, and bending…
The emerging field of passive macro-scale tile-based self-assembly (TBSA) shows promise in enabling effective manufacturing processes by harnessing TBSA's intrinsic parallelism. However, current TBSA methodologies still do not fulfill their…
The ability to robustly grasp a variety of objects is essential for dexterous robots. In this paper, we present a framework for zero-shot dynamic dexterous grasping using single-view visual inputs, designed to be resilient to various…
We investigate both analytically and by numerical simulation the kinetics of a microscopic model of hard rods adsorbing on a linear substrate, a model which is relevant for compaction of granular materials. The computer simulations use an…
In this paper, we present asymmetric pivot manipulation for picking up rigid hollow objects to achieve a hole grasp. The pivot motion, executed by a position-controlled robotic arm, enables the gripper to effectively grasp hollow objects…
We introduce and analyze a model for self-reconfigurable robots made up of unit-cube modules. Compared to past models, our model aims to newly capture two important practical aspects of real-world robots. First, modules often do not occupy…
In this paper, we study modulation instabilities (MI) in a one-dimensional chain configuration of a flexible mechanical metamaterial (flexMM). Using the lumped element approach, flexMMs can be modeled by a coupled system of discrete…
Soft robotic grasping has rapidly spread through the academic robotics community in recent years and pushed into industrial applications. At the same time, multimaterial 3D printing has become widely available, enabling the monolithic…
Commonly used linear and nonlinear constitutive material models in deformation simulation contain many simplifications and only cover a tiny part of possible material behavior. In this work we propose a framework for learning customized…
We study avenues to shape multistability and shape-morphing in flexible crystalline membranes of cylindrical topology, enabled by glide mobility of dislocations. Using computational modeling, we obtain states of mechanical equilibrium…
This paper proposes a new Active Disturbance Rejection based robust trajectory tracking controller design method in state space. It can compensate not only matched but also mismatched disturbances. Robust state and control input references…
This paper studies static output feedback stabilization of continuous-time (incrementally) passive nonlinear systems where the control actions can only be chosen from a discrete (and possibly finite) set of points. For this purpose, we are…
We investigate pneumatic non-prehensile manipulation (i.e., blowing) as a means of efficiently moving scattered objects into a target receptacle. Due to the chaotic nature of aerodynamic forces, a blowing controller must (i) continually…
Grippers can be attached to objects in a rigid mode, and they are therefore used in various applications, for example granular jamming gripper. This paper introduces a cutting-edge radial layer jamming mechanism with is tunable stiffness,…
Biological locomotion in nature is often achieved by the interaction between a flexible body and its surrounding medium. The interaction of a flexible body with granular media is less understood compared with viscous fluids partially due to…
The centuries-old idea of a lighter-than-air vacuum balloon has not materialized yet as such structure needs to be both light enough to float in the air and strong enough to withstand atmospheric pressure. We propose a design of a rigid…
Current upper limb prostheses aim to enhance user independence in daily activities by incorporating basic motor functions. However, they fall short of replicating the natural movement and interaction capabilities of the human arm. In…
Variable stiffness is a key capability in biological and robotic systems, enabling adaptive interaction across tasks and environments. Mechanical metamaterials offer an alternative to conventional mechatronic solutions by encoding stiffness…
Robot arms that assist humans should be able to pick up, move, and release everyday objects. Today's assistive robot arms use rigid grippers to pinch items between fingers; while these rigid grippers are well suited for large and heavy…
The ability to deal with articulated objects is very important for robots assisting humans. In this work, a framework to robustly and adaptively operate common doors, using an autonomous mobile manipulator, is proposed. To push forward the…