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Public blockchain systems offer security guarantees that cannot be matched by any centralised system. This offering has attracted a lot of interest and has exposed a significant limitation of most blockchain designs with regards to…
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…
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,…
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…
It is shown that a compound elastic structure, which displays a dynamic instability, may be designed as the union (or 'fusion') of two structures which are stable when separately analyzed. The compound elastic structure has two degrees of…
Kirigami, the creative art of paper cutting, is a promising paradigm for mechanical metamaterials. However, to make kirigami-inspired structures a reality requires controlling the topology of kirigami to achieve connectivity and rigidity.…
We study flow driven through a finite-length planar rigid channel by a fixed upstream flux, where a segment of one wall is replaced by a pre-stressed elastic beam subject to uniform external pressure. The steady and unsteady systems are…
To develop Musashi as a musculoskeletal humanoid platform to investigate learning control systems, we aimed for a body with flexible musculoskeletal structure, redundant sensors, and easily reconfigurable structure. For this purpose, we…
Yoshimura origami is a classical folding pattern that has inspired many deployable structure designs. Its applications span from space exploration, kinetic architectures, and soft robots to even everyday household items. However, despite…
Origami is an ancient art that continues to yield both artistic and scientific insights to this day. In 2012, Buhler, Butler, de Launey, and Graham extended these ideas even further by developing a mathematical construction inspired by…
This work harnesses interpretable machine learning methods to address the challenging inverse design problem of origami-inspired systems. We show that a decision tree-random forest method is particularly suitable for fitting origami…
Structural stability is a necessary condition for successful construction of an assembly. However, designing a stable assembly requires a non-trivial effort since a slight variation in the design could significantly affect the structural…
Reconfigurable robots that can change their physical configuration post-fabrication have demonstrate their potential in adapting to different environments or tasks. However, it is challenging to determine how to optimally adjust…
Kirigami offers unique opportunities for guided morphing by leveraging the geometry of the cuts. This work presents inflatable kirigami crawlers created by introducing cut patterns into heat-sealable textiles to achieve locomotion upon…
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…
We prove several hardness results on folding origami crease patterns. Flat-folding finite crease patterns is fixed-parameter tractable in the ply of the folded pattern (how many layers overlap at any point) and the treewidth of an…
The article studies the elastic and locomotive properties of Miura-ori-type paper origami. The mechanics of a single paper crease is studied experimentally, and its non-elastic properties turn out to be crucial. The entire origami…
We leverage the snap-through response of a bistable origami mechanism to induce a discontinuous evolution of drag with flow speed. The transition between equilibrium states is passively actuated by airflow, and we demonstrate that large…
Modular and reconfigurable robotic systems have been designed to provide a customized solution for the non-repetitive tasks to be performed in a constrained environment. Customized solutions are normally extracted from task-based…
Legged machines are becoming increasingly agile and adaptive but they have so far lacked the morphological diversity of legged animals, which have been rearranged and reshaped to fill millions of niches. Unlike their biological…