相关论文: Folded Goursat surface and banana-shaped seedpod
In spite of recent progress, soft robotics still suffers from a lack of unified modeling framework. Nowadays, the most adopted model for the design and control of soft robots is the piece-wise constant curvature model, with its consolidated…
A complete representation of 3D objects requires characterizing the space of deformations in an interpretable manner, from articulations of a single instance to changes in shape across categories. In this work, we improve on a prior…
The closure of a braid in a closed orientable surface $\Sigma$ is a link in $\Sigma\times S^1$. We classify such closed surface braids up to isotopy and homeomorphism (with a small indeterminacy for isotopy of closed sphere braids),…
Fruit harvesting has recently experienced a shift towards soft grippers that possess compliance, adaptability, and delicacy. In this context, pneumatic grippers are popular, due to provision of high deformability and compliance, however…
We create a framework for studying symmetric chain decompositions of families of finite posets based on the geometry of polytopes. Our framework unifies almost all known results regarding symmetric chain decompositions of the Young posets…
The evolution of occupied volume under progressive fragmentation of granular matter is studied using a purely geometric model. Rather than modelling disorder directly, properties are investigated by analysing highly ordered reference…
There exists a smooth foliation with 3 singular points on the two-dimensional torus such that any lifting of a leaf of this foliation on the universal covering of the torus is a dense subset of the covering.
In this paper, we develop a coarse analogue of treewidth. We prove that a graph $G$ admits a tree-decomposition in which each bag is contained in the union of a bounded number of balls of bounded radius, if and only if $G$ admits a…
Solid contacts involving soft materials are important in mechanical engineering or biomechanics. Experimentally, such contacts have been shown to shrink significantly under shear, an effect which is usually explained using adhesion models.…
Skew shaped positroids (or skew shaped positroid varieties) are certain Richardson varieties in the flag variety that admit a realization as explicit subvarieties of the Grassmannian $\mathrm{Gr}(k,n)$. They are parametrized by a pair of…
Morse foliated open books were introduced by the autors (along with abstract and embedded versions) as a tool for studying contact manifolds with boundary, and this article illustrates the advantages of the Morse perspective. We use this to…
We study a modification of Poisson geometry by a closed 3-form. Just as for ordinary Poisson structures, these "twisted" Poisson structures are conveniently described as Dirac structures in suitable Courant algebroids. The additive group of…
We introduce a class of diffeological spaces, called elastic, on which the left Kan extension of the tangent functor of smooth manifolds defines an abstract tangent functor in the sense of Rosicky. On elastic spaces there is a natural…
Consider an orientable compact surface in three dimensional Euclidean space with minimum total absolute curvature. If the Gaussian curvature changes sign to finite order and satisfies a nondegeneracy condition along closed asymptotic…
We propose Cabbage, a differential growth framework to model buckling behavior in 3D open surfaces found in nature-like the curling of flower petals. Cabbage creates high-quality triangular meshes free of self-intersection. Cabbage-Shell is…
Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, internal organs, bottles/boxes) is critical for real-world applications such as food processing, robotic surgery, and household automation. However, developing grasp…
Open-set 3D segmentation represents a major point of interest for multiple downstream robotics and augmented/virtual reality applications. We present a decoupled 3D segmentation pipeline to ensure modularity and adaptability to novel 3D…
Disclinations in a 2D sheet create regions of Gaussian curvature whose inversion produces a reconfigurable surface with many distinct metastable shapes, as shown by molecular dynamics of a disclinated graphene monolayer. This material has a…
Soft robotic grasping has rapidly spread through the academic robotics community in recent years and pushed into industrial applications. At the same time, multimaterial 3D printing has become widely available, enabling the monolithic…
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…