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Porous structures are intricate solid materials with numerous small pores, extensively used in fields like medicine, chemical engineering, and aerospace. However, the design of such structures using computer-aided tools is a time-consuming…
Shells, when confined, can deform in a broad assortment of shapes and patterns, often quite dissimilar to what is produced by their flat counterparts (plates). In this work we discuss the morphological landscape of shells deposited on a…
In this paper we study the dimension of splines of mixed smoothness on axis-aligned T-meshes. This is the setting when different orders of smoothness are required across the edges of the mesh. Given a spline space whose dimension is…
Soft slender structures are ubiquitous in natural and artificial systems and can be observed at scales that range from the nanometric to the kilometric, from polymers to space tethers. We present a practical numerical approach to simulate…
Shape-morphing capabilities are crucial for enabling multifunctionality in both biological and artificial systems. Various strategies for shape morphing have been proposed for applications in metamaterials and robotics. However, few of…
Accurate modelling of object deformations is crucial for a wide range of robotic manipulation tasks, where interacting with soft or deformable objects is essential. Current methods struggle to generalise to unseen forces or adapt to new…
Spherical $t$-designs are finite point sets on the unit sphere that enable exact integration of polynomials of degree at most $t$ via equal-weight quadrature. This concept has recently been extended to spherical $t$-design curves by the use…
This paper presents the design, control, and applications of a multi-segment soft robotic arm. In order to design a soft arm with large load capacity, several design principles are proposed by analyzing two kinds of buckling issues, under…
Experimental analysis of the mechanics of a deformable object, and particularly its stability, requires repetitive testing and, depending on the complexity of the object's shape, a testing setup that can manipulate many degrees of freedom…
Robot manipulation of rope-like objects is an interesting problem that has some critical applications, such as autonomous robotic suturing. Solving for and controlling rope is difficult due to the complexity of rope physics and the…
In this work, we study the mechanics of metamaterial sheets inspired by the pellicle of Euglenids. They are composed of interlocking elastic rods which can freely slide along their edges. We characterize the kinematics and the mechanics of…
Transformational optics allow for a markedly enhanced control of the electromagnetic wave trajectories within metamaterials with interesting applications ranging from perfect lenses to invisibility cloaks, carpets, concentrators and…
We study the lubrication of fluid-immersed soft interfaces and show that elastic deformation couples tangential and normal forces and thus generates lift. We consider materials that deform easily, due to either geometry (e.g. a shell) or…
Soft solids and their surface deformations control the response of many natural and artificial systems. Yet, their underlying properties are vigorously debated, particularly for polymer networks. While molecular-scale theories predict no…
This paper deals with a kind of design of a ruled surface. It combines concepts from the fields of computer aided geometric design and kinematics. A dual unit spherical B\'ezier-like curve on the dual unit sphere (DUS) is obtained with…
Across various scientific and engineering domains, a growing interest in flexible and deployable structures is becoming evident. These structures facilitate seamless transitions between distinct states of shape and find broad applicability…
A convex polyhedron, that is, a compact convex subset of $\mathbb{R}^3$ which is the intersection of finitely many closed half-spaces, can be rectified by taking the convex hull of the midpoints of the edges of the polyhedron. We derive…
We examine three-dimensional metric deformations based on a tetrad transformation through the action the matrices of scalar fields. We describe by this approach to deformation the results obtained by Coll et al. in [1], where it is stated…
Proprioception is the "sixth sense" that detects limb postures with motor neurons. It requires a natural integration between the musculoskeletal systems and sensory receptors, which is challenging among modern robots that aim for…
Curvature and mechanics are intimately connected for thin materials, and this coupling between geometry and physical properties is readily seen in folded structures from intestinal villi and pollen grains, to wrinkled membranes and…