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This paper proposes a unified vision-based manipulation framework using image contours of deformable/rigid objects. Instead of using human-defined cues, the robot automatically learns the features from processed vision data. Our method…
Recent advancements in visualizing deep neural networks provide insights into their structures and mesh extraction from Continuous Piecewise Affine (CPWA) functions. Meanwhile, developments in neural surface representation learning…
Polymer gels are comprised of a three-dimensional, cross-linked network that can typically withstand the mechanical deformation associated with both swelling and de-swelling. Thus, gels can be designed with smart behaviors that require both…
We present a discrete theory for modeling developable surfaces as quadrilateral meshes satisfying simple angle constraints. The basis of our model is a lesser known characterization of developable surfaces as manifolds that can be…
We construct self-intersected flexible cross-polytopes in the spaces of constant curvature, that is, the Euclidean spaces, the spheres, and the Lobachevsky spaces of all dimensions. In dimensions greater than or equal to 5, these are the…
The design of control engineering applications usually requires a model that accurately represents the dynamics of the real system. In addition to classical physical modeling, powerful data-driven approaches are increasingly used. However,…
In this work, merging ideas from compatible discretisations and polyhedral methods, we construct novel fully discrete polynomial de Rham sequences of arbitrary degree on polygons and polyhedra. The spaces and operators that appear in these…
Multivariate piecewise polynomial functions (or splines) on polyhedral complexes have been extensively studied over the past decades and find applications in diverse areas of applied mathematics including numerical analysis, approximation…
In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…
We define a new class of orthogonal polyhedra, called orthogrids, that can be unfolded without overlap with constant refinement of the gridded surface.
Soft robots show compliance and have infinite degrees of freedom. Thanks to these properties, such robots can be leveraged for surgery, rehabilitation, biomimetics, unstructured environment exploring, and industrial grippers. In this case,…
We study mechanical structures composed of spatial four-bar linkages that are bistable, that is, they allow for two distinct configurations. They have an interpretation as quad nets in the Study quadric which can be used to prove existence…
This paper presents some applications of using recently developed algorithms for smooth-continuous data reconstruction based on the digital-discrete method. The classical discrete method for data reconstruction is based on domain…
Flexible slender structures such as rods, ribbons, plates, and shells exhibit extreme nonlinear responses bending, twisting, buckling, wrinkling, and self contact, that defy conventional simulation frameworks. Discrete Differential Geometry…
It is shown that there are examples of distinct polyhedra, each with a Hamiltonian path of edges, which when cut, unfolds the surfaces to a common net. In particular, it is established for infinite classes of triples of tetrahedra.
Slender structures, such as rods, often exhibit large nonlinear geometrical deformations even under moderate external forces (e.g., gravity). This characteristic results in a rich variety of morphological changes, making them appealing for…
We study surface effects in amorphous polymer systems by means of computer simulation. In the framework of molecular dynamics, we present two different methods to prepare such surfaces. {\em Free} surfaces are stabilized solely by…
This paper presents some applications using recently developed algorithms for smooth-continuous data reconstruction based on the digital-discrete method. The classical discrete method for data reconstruction is based on domain decomposition…
In this paper, we introduce a design principle to develop novel soft modular robots based on tensegrity structures and inspired by the cytoskeleton of living cells. We describe a novel strategy to realize tensegrity structures using planar…
Designing and fabricating structures with specific mechanical properties requires understanding the intricate relationship between design parameters and performance. Understanding the design-performance relationship becomes increasingly…