Related papers: From Fold to Function: Simulation-Driven Design of…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
We analyze the performance of a reduced-order simulation of geometric meta-materials based on zigzag patterns using a simplified representation. As geometric meta-materials we denote planar cellular structures which can be fabricated in 2d…
Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, internal organs, bottles/boxes) is critical for real-world applications such as food processing, robotic surgery, and household automation. However, developing grasp…
Traditionally, origami has been categorized into two groups according to their kinematics design: rigid and non-rigid origami. However, such categorization can be superficial, and rigid origami can obtain new mechanical properties by…
Artificial muscles embody human aspirations for engineering lifelike robotic movements. This paper introduces an architecture for Inflatable Fluid-Driven Origami-Inspired Artificial Muscles (IN-FOAMs). A typical IN-FOAM consists of an…
Advances in engineering mesoscopic quantum devices have led to new material platforms where electronic transport can be achieved on foldable structures. In this respect, we study quantum phases and their transitions on a Kirigami structure,…
Origami structures often serve as the building block of mechanical systems due to their rich static and dynamic behaviors. Experimental observation and theoretical modeling of origami dynamics have been reported extensively, whereas the…
We develop a theoretical framework for rigid origami, and show how this framework can be used to connect rigid origami and results from cognate areas, such as the rigidity theory, graph theory, linkage folding and computer science. First,…
Limbless creatures can crawl on flat surfaces by deforming their bodies and interacting with asperities on the ground, offering a biological blueprint for designing efficient limbless robots. Inspired by this natural locomotion, we present…
Sim-to-real transfer remains a significant challenge in soft robotics due to the unpredictability introduced by common manufacturing processes such as 3D printing and molding. These processes often result in deviations from simulated…
We show that periodically folded graphene sheets with enhanced spin-orbit interaction due to curvature effects can carry spin polarized currents and have gaps in the electronic spectrum in the presence of weak magnetic fields. Our results…
We map the problem of determining flat-foldability of the origami diagram onto the ground-state search problem of spin glass model on random graphs. If the origami diagram is locally flat-foldable around each vertex, a pre-folded diagram,…
We present a mesoscale finger-mounted 4-degree-of-freedom (DoF) haptic device that is created using origami fabrication techniques. The 4-DoF device is a parallel kinematic mechanism capable of delivering normal, shear, and torsional haptic…
Four rigid panels connected by hinges that meet at a point form a 4-vertex, the fundamental building block of origami metamaterials. Here we show how the geometry of 4-vertices, given by the sector angles of each plate, affects their…
Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…
Origami, where two-dimensional sheets are folded into complex structures, is proving to be rich with combinatorial and geometric structure, most of which remains to be fully understood. In this paper we consider \emph{flat origami}, where…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
Robotic grasping and manipulation in underwater environments present unique challenges for robotic hands traditionally used on land. These challenges stem from dynamic water conditions, a wide range of object properties from soft to stiff,…
Robotic manipulation of deformable objects remains a challenging task. One such task is folding a garment autonomously. Given start and end folding positions, what is an optimal trajectory to move the robotic arm to fold a garment? Certain…
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…