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Flexible sensors are increasingly employed in soft robotics and wearable devices to provide proprioception of freeform deformations.Although supervised learning can train shape predictors from sensor signals, prediction accuracy strongly…

Hyper-redundant robots offer high dexterity, making them good at operating in confined and unstructured environments. To extend the reachable workspace, we built a multi-segment flexible rack actuated planar robot. However, the compliance…

We introduce new manifold-based splines that are able to exactly reproduce B-splines on unstructured surface meshes. Such splines can be used in isogeometric analysis (IGA) to represent smooth surfaces of arbitrary topology. Since prevalent…

Polyhedral surfaces are fundamental objects in architectural geometry and industrial design. Whereas closeness of a given mesh to a smooth reference surface and its suitability for numerical simulations were already studied extensively, the…

There is a surge of research interest in the field of tensegrity robotics. Robots developed under this paradigm provide many advantages and have distinguishing features in terms of structural compliance, dexterity, safety, and weight…

This paper develops a new way to create smooth piecewise polynomial free-form spline surfaces from quad- meshes that include T-junctions, where surface strips start or terminate. All mesh nodes can be interpreted as control points of…

This paper discusses modelling, controllability and gait design for a spherical flexible swimmer. We first present a kinematic model of a low Reynolds number spherical flexible swimming mechanism with periodic surface deformations in the…

Soft robots have drawn significant attention recently for their ability to achieve rich shapes when interacting with complex environments. However, their elasticity and flexibility compared to rigid robots also pose significant challenges…

Shape-morphing devices, a crucial branch in soft robotics, hold significant application value in areas like human-machine interfaces, biomimetic robotics, and tools for interacting with biological systems. To achieve three-dimensional (3D)…

In this paper, a flexible tether-net system is applied to capture the space debris and a numerical framework is established to explore its nonlinear dynamic behaviors, which comprises four principal phases: folding, spreading, contacting,…

Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…

We propose DeepMetaHandles, a 3D conditional generative model based on mesh deformation. Given a collection of 3D meshes of a category and their deformation handles (control points), our method learns a set of meta-handles for each shape,…

Studying the manipulation of deformable linear objects has significant practical applications in industry, including car manufacturing, textile production, and electronics automation. However, deformable linear object manipulation poses a…

This paper presents the first method for constructing bases for polynomial spline spaces over an arbitrary T-meshes (PT-splines for short). We construct spline basis functions for an arbitrary T-mesh by first converting the T-mesh into a…

Polynomial splines are ubiquitous in the fields of computer aided geometric design and computational analysis. Splines on T-meshes, especially, have the potential to be incredibly versatile since local mesh adaptivity enables efficient…

We present a novel method to perform numerical integration over curved polyhedra enclosed by high-order parametric surfaces. Such a polyhedron is first decomposed into a set of triangular and/or rectangular pyramids, whose certain faces…

In this paper, we introduce a method to rapidly create 3D geometries by folding 2D sheets via pull-up nets. Given a 3D structure, we unfold its mesh into a planar 2D sheet using heuristic algorithms and populate these with cutlines and…

We investigate the folding problem that asks if a polygon P can be folded to a polyhedron Q for given P and Q. Recently, an efficient algorithm for this problem has been developed when Q is a box. We extend this idea to regular polyhedra,…

This paper proposes a new control framework for manipulating soft objects. A Deep Reinforcement Learning (DRL) approach is used to make the shape of a deformable object reach a set of desired points by controlling a robotic arm which…

We study flexible polyhedral nets in isotropic geometry. This geometry has a degenerate metric, but there is a natural notion of flexibility. We study infinitesimal and finite flexibility, and classify all finitely flexible polyhedral nets…