Related papers: From Folding Mechanics to Robotic Function: A Unif…
Twisting sheets as a strategy to form functional yarns relies on millennia of human practice in making catguts and fabric wearables, but still lacks overarching principles to guide their intricate architectures. We show that twisted…
Limbless organisms of all sizes use undulating patterns of self-deformation to locomote. Geometric mechanics, which maps deformations to motions, provides a powerful framework to formalize and investigate the theoretical properties and…
Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…
Molecular dynamics simulations are often used to provide feedback in the design workflow of DNA nanostructures. However, even with coarse-grained models, convergence of distributions from unbiased simulation is slow, limiting applications…
Conformal Geometric Algebra (CGA) is a framework that allows the representation of objects, such as points, planes and spheres, and deformations, such as translations, rotations and dilations as uniform vectors, called multivectors. In this…
Replicating and surpassing the autonomy of natural organisms remains a long-standing goal in robotics. Yet most robotic systems have their structure, materials, and control designed separately, in sharp contrast to the co-evolution in…
Reconfigurable robots that can change their physical configuration post-fabrication have demonstrate their potential in adapting to different environments or tasks. However, it is challenging to determine how to optimally adjust…
Language-guided grasping has emerged as a promising paradigm for enabling robots to identify and manipulate target objects through natural language instructions, yet it remains highly challenging in cluttered or occluded scenes. Existing…
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,…
This paper establishes a unified element-based framework for formation control by introducing the concept of the deformation gradient from continuum mechanics. Unlike traditional methods that rely on geometric constraints defined on graph…
Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interaction between deformable anchoring…
Robotic designs played an important role in recent advances by providing powerful robots with complex mechanics. Many recent systems rely on parallel actuation to provide lighter limbs and allow more complex motion. However, these emerging…
In this work, we propose a novel single-end morphing capacitive sensing method for shape tracking, FxC, by combining Folding origami structures and Capacitive sensing to detect the morphing structural motions using state-of-the-art sensing…
Rotational erection system (RES) represents an origami-based design method for generating a three-dimensional (3D) structure from a planar sheet without compression. Its rotational and translational kinematics is fully encoded in a form of…
Inspired by the allure of additive fabrication, we pose the problem of origami design from a new perspective: how can we grow a folded surface in three dimensions from a seed so that it is guaranteed to be isometric to the plane? We solve…
Manipulation of thin sheets by folding and cutting offers opportunity to engineer structures with novel mechanical properties, and to prescribe complex force-displacement relationships via material elasticity in combination with the…
Bistable mechanical systems exhibit two stable configurations where the elastic energy is locally minimized. To realize such systems, origami techniques have been proposed as a versatile platform to design deployable structures with both…
Origami metamaterials made of repeating unit cells of parallelogram panels joined at folds dramatically change their shape through a collective motion of their cells. Here we develop an effective elastic model and numerical method to study…
The recent development of modular origami structures has ushered in a new era for active metamaterials with multiple degrees of freedom (multi-DOF). Notably, no systematic inverse design approach for volumetric modular origami structures…
Learning neural operators on heterogeneous and irregular geometries remains a fundamental challenge, as existing approaches typically rely on structured discretisations or explicit mappings to a shared reference domain. We propose a unified…