Related papers: From Fold to Function: Simulation-Driven Design of…
Two-dimensional (2D) origami tessellations such as the Miura-ori are often generalized to build three-dimensional (3D) architected materials with sandwich or cellular structures. However, such 3D blocks are densely packed with continuity of…
Origami, the traditional paper-folding art, has inspired the modern design of numerous flexible structures in science and engineering. In particular, origami structures with different physical properties have been studied and utilized for…
Non-rigid origami patterns could provide more versatile performance than their rigid counterparts in the design of mechanical metamaterials owing to the simultaneous deformation of facets and creases, but their complex deformation modes…
Origami metamaterials typically consist of folded sheets with periodic patterns, conferring them with remarkable mechanical properties. In the context of Continuum Mechanics, the majority of existing predictive methods are mechanism analogs…
Thin elastic sheets bend easily and, if they are patterned with cuts, can deform in sophisticated ways. Here we show that carefully tuning the location and arrangement of cuts within thin sheets enables the design of mechanical actuators…
This paper presents the design of a new soft-rigid robotic platform, "GeoGami". We leverage origami surface capabilities to achieve shape contraction and to support locomotion with underactuated forms. A key challenge is that origami…
Orthogonally assembled double-layered corrugated (OADLC) mechanisms are a class of foldable structures that harness origami-inspired methods to enhance the structural stiffness of resulting devices; these mechanisms have extensive…
Origami designs and structures have been widely used in many fields, such as morphing structures, robotics, and metamaterials. However, the design and fabrication of origami structures rely on human experiences and skills, which are both…
Rigid origami is a branch of origami with great potential in engineering applications to deal with rigid-panel folding. One of the challenges is to compactly fold the polyhedra made from rigid facets with a single degree of freedom. In this…
Origami and kirigami have emerged as potential tools for the design of mechanical metamaterials whose properties such as curvature, Poisson ratio, and existence of metastable states can be tuned using purely geometric criteria. A major…
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…
Object manipulation is a fundamental challenge in robotics, where systems must balance trade-offs among manipulation capabilities, system complexity, and throughput. Distributed manipulator systems (DMS) use the coordinated motion of…
Origami-based design holds promise for developing materials whose mechanical properties are tuned by crease patterns introduced to thin sheets. Although there has been heuristic developments in constructing patterns with desirable…
Kirigami, the traditional paper-cutting craft, holds immense potential for revolutionizing robotics by providing multifunctional, lightweight, and adaptable solutions. Kirigami structures, characterized by their bending-dominated…
Nematic elastomers dramatically change their shape in response to diverse stimuli including light and heat. In this paper, we provide a systematic framework for the design of complex three dimensional shapes through the actuation of…
The geometric, aesthetic, and mathematical elegance of origami is being recognized as a powerful pathway to self-assembly of micro and nano-scale machines with programmable mechanical properties. The typical approach to designing the…
We present an approach to overcoming challenges in dynamical dexterity for robots through tunable origami structures. Our work leverages a one-parameter family of flat sheet crease patterns that folds into origami bellows, whose axial…
Origami structures have been receiving a lot of attention from engineering and scientific researchers owing to their unique properties such as deployability, multi-stability, negative stiffness, etc. However, dynamic properties of origami…
Existing Civil Engineering structures have limited capability to adapt their configurations for new functions, non-stationary environments, or future reuse. Although origami principles provide capabilities of dense packaging and…
Soft robotic grippers gently and safely manipulate delicate objects due to their inherent adaptability and softness. Limited by insufficient stiffness and imprecise force control, conventional soft grippers are not suitable for applications…