Related papers: From Folding Mechanics to Robotic Function: A Unif…
While the grasping capability of robotic grippers has shown significant development, the ability to manipulate objects within the hand is still limited. One explanation for this limitation is the lack of controlled contact variation between…
From the complex motions of robots to the oxygen binding of hemoglobin, the function of many mechanical systems depends on large, coordinated movements of their components. Such movements arise from a network of physical interactions in the…
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…
Representing 3D scenes from multiview images is a core challenge in computer vision and graphics, which requires both precise rendering and accurate reconstruction. Recently, 3D Gaussian Splatting (3DGS) has garnered significant attention…
We consider the zero-energy deformations of periodic origami sheets with generic crease patterns. Using a mapping from the linear folding motions of such sheets to force-bearing modes in conjunction with the Maxwell-Calladine index theorem…
In the domain of geometry and topology optimization, discovering geometries that optimally satisfy specific problem criteria is a complex challenge in both engineering and scientific research. In this work, we propose a new approach for the…
Rigid origami has shown potential in large diversity of practical applications. However, current rigid origami crease pattern design mostly relies on known tessellations. This strongly limits the diversity and novelty of patterns that can…
Many of the patterns seen in Origami are currently being explored as a platform for building functional engineering systems with versatile characteristics that cater to niche applications in various technological fields. One such pattern is…
The nonlinear mechanical response of soft materials and slender structures is purposefully harnessed to program functions by design in soft robotic actuators, such as sequencing, amplified response, fast energy release, etc. However,…
Capturing both geometry and rigid motion for structured dynamic objects, like multi-part assemblies or jointed mechanisms, remains a key challenge. Existing dynamic methods, such as deformable meshes or 3DGS, rely on unstructured…
Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…
Kirigami metamaterial sheets and tubes, owing to their capacity to undergo large elastic deformations while developing three-dimensional surface textures, have enormous potential as skins for soft robots. Here, we propose to use kirigami…
Non-Euclidean surfaces are ubiquitous in numerous engineering fields, such as automotive, aerospace, and biomedical engineering domains. Morphing origami has numerous potential engineering applications, including soft robots, mechanical…
In this paper, we will show methods to interpret some rigid origami with higher degree vertices as the limit case of structures with degree-4 supplementary angle vertices. The interpretation is based on separating each crease into two…
Differentiable physics is a powerful tool in computer vision and robotics for scene understanding and reasoning about interactions. Existing approaches have frequently been limited to objects with simple shape or shapes that are known in…
Four rigid panels connected by hinges that meet at a point form a 4-vertex, the fundamental building block of origami metamaterials. Here we show how the geometry of 4-vertices, given by the sector angles of each plate, affects their…
Origami and Kirigami, the famous Japanese art forms of paper folding and cutting, have inspired the design of novel materials & structures utilizing their geometry. In this article, we explore the geometry of the lesser known popup art,…
Garment manipulation (e.g., unfolding, folding and hanging clothes) is essential for future robots to accomplish home-assistant tasks, while highly challenging due to the diversity of garment configurations, geometries and deformations.…
The concept of kirigami has been extensively utilized to design deployable structures and reconfigurable metamaterials. Despite heuristic utilization of classical kirigami patterns, the gap between complex kirigami tessellations and…
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…